16:38:33.577 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 16:38:33.577 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 16:38:33.577245655 +01:00 16:38:33.577 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 16:38:33.577 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 16:38:33.577 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 16:38:33.577 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 16:38:33.577 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0]}) 16:38:33.577 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:38:33.578 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] } 16:38:33.981 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0]}) 16:38:33.981 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:38:37.329 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 16:40:02.442 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 16:40:02.442 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 16:40:02.442610244 +01:00 16:40:02.442 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 16:40:02.442 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 16:40:02.442 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 16:40:02.442 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 16:40:02.442 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], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 16:40:02.442 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:40:02.444 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] } 16:40:02.829 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], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 16:40:02.829 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:40:03.217 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'main' panicked at 'Direction vector is not normalized!': utilities/simulator/src/sensors/multibeam.rs:41 16:42:23.546 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 16:42:23.546 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 16:42:23.546542909 +01:00 16:42:23.546 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 16:42:23.546 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 16:42:23.546 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 16:42:23.546 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 16:42:23.546 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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "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], "camera_location": [0.086, 0.0, 0.06019], "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], "gps_location": [0.102, 0.0, -0.223]}) 16:42:23.546 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:42:23.547 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] } 16:42:23.996 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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "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], "camera_location": [0.086, 0.0, 0.06019], "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], "gps_location": [0.102, 0.0, -0.223]}) 16:42:23.996 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:42:24.494 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'main' panicked at 'Direction vector is not normalized!: 0.9999999999999999': utilities/simulator/src/sensors/multibeam.rs:41 16:58:18.720 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 16:58:18.720 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 16:58:18.720168176 +01:00 16:58:18.720 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 16:58:18.720 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 16:58:18.720 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 16:58:18.720 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 16:58:18.720 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174]}) 16:58:18.720 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:58:18.721 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] } 16:58:18.994 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174]}) 16:58:18.994 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 }) 16:58:19.768 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174]}) 16:58:19.768 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:58:20.135 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 16:58:20.135 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 16:58:20.135 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 16:58:20.135 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 16:58:20.135 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 16:58:20.135 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 16:58:20.135 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 16:58:20.135 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 16:58:20.135 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 16:58:20.135 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 16:58:20.135 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 16:58:20.135 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 16:58:20.135 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174]}) 16:58:20.136 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:58:20.136 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 16:58:20.136 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 } 16:58:20.136 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 16:58:20.138 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 16:58:20.138 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 16:58:20.138 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 16:58:20.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 16:58:20.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 16:58:20.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 16:58:20.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 16:58:20.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 16:58:20.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 16:58:20.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 16:58:20.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 16:58:20.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 16:58:20.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 16:58:20.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 16:58:20.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 16:58:20.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 16:58:20.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 16:58:20.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 16:58:20.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 16:58:20.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 16:58:20.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 16:58:20.142 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 16:58:20.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 16:58:20.142 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 16:58:20.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 16:58:20.142 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 16:58:20.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 16:58:20.142 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174]}) 16:58:20.142 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:58:20.143 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 16:58:20.143 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 } 16:58:20.143 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 16:58:20.144 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 16:58:20.144 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 16:58:20.642 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 16:58:20.642 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 } 16:58:20.643 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 16:58:20.643 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 16:58:20.643 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 } 16:58:20.643 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 16:58:20.643 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 16:58:20.643 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 } 16:58:20.643 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 16:58:20.643 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 16:58:20.644 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 16:58:20.644 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T16:58:20.643779059+01:00_task_executor': Tried to start logging but no MongoDB client configured 16:58:20.644 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 16:58:20.645 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 } 16:58:20.645 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 16:58:20.651 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 16:58:20.652 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 16:58:20.699 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) 16:58:20.700 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)] }] 16:58:20.841 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 16:58:20.842 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1052.52Hz 16:58:20.843 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 16:58:20.845 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 16:58:20.845 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 } 16:58:20.845 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 16:58:20.850 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00035999999999999997, Enable control depth: 0.2, Depth control enabled: true 16:58:20.850 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 16:58:20.889 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20844, Enable control depth: 0.2, Depth control enabled: false 16:58:20.889 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 16:58:20.889 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 16:58:24.132 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7915.53Hz 16:58:27.371 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3908.56Hz 16:58:30.648 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4817.91Hz 16:58:33.924 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5071.64Hz 16:58:37.236 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2819.86Hz 16:58:40.455 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4877.22Hz 16:58:41.413 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: "could not get ray info" }': utilities/simulator/src/pybullet_api.rs:226 16:58:41.413 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 16:59:32.397 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 16:59:32.397 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 16:59:32.397220221 +01:00 16:59:32.397 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 16:59:32.397 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 16:59:32.397 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 16:59:32.397 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 16:59:32.397 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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174]}) 16:59:32.397 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:59:32.398 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] } 16:59:32.784 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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174]}) 16:59:32.784 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 }) 16:59:33.568 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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174]}) 16:59:33.568 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:59:33.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 16:59:33.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 16:59:33.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 16:59:33.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 16:59:33.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 16:59:33.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 16:59:33.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 16:59:33.933 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 16:59:33.933 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 16:59:33.933 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 16:59:33.933 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 16:59:33.933 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 16:59:33.933 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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174]}) 16:59:33.933 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 }) 16:59:33.933 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 16:59:33.933 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 } 16:59:33.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 16:59:33.935 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 16:59:33.935 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 16:59:33.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 16:59:33.937 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 16:59:33.937 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 16:59:33.937 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 16:59:33.937 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 16:59:33.937 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 16:59:33.937 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 16:59:33.937 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 16:59:33.937 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 16:59:33.937 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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174]}) 16:59:33.937 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:59:33.937 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 16:59:33.937 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 } 16:59:33.937 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 16:59:33.938 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 16:59:33.938 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 16:59:34.277 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 16:59:34.277 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 } 16:59:34.277 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 16:59:34.277 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 16:59:34.277 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 } 16:59:34.277 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 16:59:34.280 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T16:59:34.278092307+01:00_task_executor': Tried to start logging but no MongoDB client configured 16:59:34.280 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 16:59:34.280 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 } 16:59:34.281 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 16:59:34.282 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 16:59:34.282 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 16:59:34.282 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 16:59:34.283 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 16:59:34.283 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 16:59:34.283 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 } 16:59:34.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 16:59:34.285 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)] }] 16:59:34.286 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 16:59:34.340 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) 16:59:34.442 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 16:59:34.442 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 16:59:34.442 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 1.0 } 16:59:34.443 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 909.52Hz 16:59:34.443 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 16:59:34.444 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 16:59:34.444 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 16:59:34.487 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20683999999999997, Enable control depth: 0.2, Depth control enabled: false 16:59:34.488 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 16:59:34.488 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 16:59:35.263 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 16:59:35.263 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 16:59:35.263 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 16:59:49.476 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 16:59:49.476 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 16:59:49.476295532 +01:00 16:59:49.476 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 16:59:49.476 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 16:59:49.476 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 16:59:49.476 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 16:59:49.476 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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174]}) 16:59:49.476 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:59:49.477 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] } 16:59:49.870 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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174]}) 16:59:49.870 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:59:50.690 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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174]}) 16:59:50.690 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:59:51.077 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 16:59:51.077 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 16:59:51.077 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 16:59:51.077 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 16:59:51.077 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 16:59:51.077 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 16:59:51.077 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 16:59:51.077 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 16:59:51.077 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 16:59:51.077 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 16:59:51.077 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 16:59:51.077 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 16:59:51.077 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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174]}) 16:59:51.077 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:59:51.077 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 16:59:51.077 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 } 16:59:51.078 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 16:59:51.079 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 16:59:51.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 16:59:51.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 16:59:51.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 16:59:51.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 16:59:51.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 16:59:51.080 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 16:59:51.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 16:59:51.080 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 16:59:51.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 16:59:51.080 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 16:59:51.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 16:59:51.080 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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174]}) 16:59:51.080 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 16:59:51.080 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 16:59:51.080 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 } 16:59:51.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 16:59:51.080 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 16:59:51.081 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 16:59:51.443 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 16:59:51.443 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 } 16:59:51.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 16:59:51.444 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 16:59:51.444 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 } 16:59:51.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 16:59:51.444 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 16:59:51.444 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 } 16:59:51.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 16:59:51.444 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 16:59:51.445 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T16:59:51.444711141+01:00_task_executor': Tried to start logging but no MongoDB client configured 16:59:51.445 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 16:59:51.445 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 16:59:51.445 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 } 16:59:51.445 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 16:59:51.446 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 16:59:51.446 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 16:59:51.505 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) 16:59:51.506 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)] }] 16:59:51.647 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 16:59:51.649 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 837.52Hz 16:59:51.650 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 16:59:51.651 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 16:59:51.651 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 } 16:59:51.651 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 16:59:51.652 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00035999999999999997, Enable control depth: 0.2, Depth control enabled: true 16:59:51.652 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 16:59:51.695 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20655999999999997, Enable control depth: 0.2, Depth control enabled: false 16:59:51.696 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 16:59:51.696 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 16:59:55.064 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 402.57Hz 16:59:58.262 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4081.12Hz 17:00:01.094 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4499.48Hz 17:00:03.892 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 817.15Hz 17:00:06.724 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5319.06Hz 17:00:09.714 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2388.18Hz 17:00:12.973 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1222.28Hz 17:00:16.128 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5892.68Hz 17:00:19.106 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6174.94Hz 17:00:22.131 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3227.93Hz 17:00:25.227 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4818.28Hz 17:00:28.498 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2357.06Hz 17:00:32.113 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4349.66Hz 17:00:33.223 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 17:00:33.223 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... 17:00:33.223 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 17:00:33.223 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... 17:00:33.224 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 17:00:33.224 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 17:00:33.224 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 17:00:33.224 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... 17:00:33.224 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 17:00:33.224 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 17:00:33.224 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 17:00:33.224 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'state_estimator' 17:00:33.224 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 17:00:42.859 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 17:00:42.859 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 17:00:42.859671887 +01:00 17:00:42.859 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 17:00:42.859 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:00:42.859 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 17:00:42.859 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:00:42.859 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], "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_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223]}) 17:00:42.859 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:00:42.860 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] } 17:00:43.224 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], "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_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223]}) 17:00:43.224 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:00:43.992 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], "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_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223]}) 17:00:43.992 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:00:44.380 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:00:44.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:00:44.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:00:44.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:00:44.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:00:44.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:00:44.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:00:44.381 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 17:00:44.381 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 17:00:44.381 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 17:00:44.381 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 17:00:44.381 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 17:00:44.381 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], "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_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223]}) 17:00:44.381 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:00:44.381 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 17:00:44.381 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 } 17:00:44.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 17:00:44.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:00:44.382 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 17:00:44.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:00:44.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:00:44.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:00:44.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:00:44.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:00:44.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:00:44.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:00:44.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:00:44.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:00:44.383 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], "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_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223]}) 17:00:44.383 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:00:44.383 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 17:00:44.383 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 } 17:00:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 17:00:44.384 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 17:00:44.384 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 17:00:44.737 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 17:00:44.737 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 } 17:00:44.737 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 17:00:44.737 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 17:00:44.737 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 } 17:00:44.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 17:00:44.738 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 17:00:44.738 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 } 17:00:44.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 17:00:44.738 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 17:00:44.738 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T17:00:44.738383875+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:00:44.738 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 17:00:44.739 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 17:00:44.739 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 } 17:00:44.739 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 17:00:44.739 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 17:00:44.739 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 17:00:44.791 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) 17:00:44.792 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 17:00:44.901 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 17:00:44.902 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1407.57Hz 17:00:44.903 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 17:00:44.907 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 17:00:44.907 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 } 17:00:44.908 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 17:00:44.910 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00016000000000000007, Enable control depth: 0.2, Depth control enabled: true 17:00:44.910 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 17:00:44.950 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.21051999999999998, Enable control depth: 0.2, Depth control enabled: false 17:00:44.950 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 17:00:44.950 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 17:00:48.132 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3052.31Hz 17:00:51.176 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3897.50Hz 17:00:54.146 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6039.45Hz 17:00:57.126 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5890.15Hz 17:00:59.093 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 17:00:59.093 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 17:00:59.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 17:00:59.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 17:01:44.706 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 17:01:44.706 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 17:01:44.706112165 +01:00 17:01:44.706 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 17:01:44.706 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:01:44.706 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 17:01:44.706 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:01:44.706 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], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019]}) 17:01:44.706 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:01:44.707 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] } 17:01:45.057 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], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019]}) 17:01:45.057 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:01:45.898 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], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019]}) 17:01:45.899 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:01:46.265 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:01:46.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:01:46.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:01:46.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:01:46.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:01:46.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:01:46.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:01:46.266 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 17:01:46.266 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 17:01:46.266 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 17:01:46.266 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 17:01:46.266 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 17:01:46.266 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], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019]}) 17:01:46.266 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:01:46.266 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 17:01:46.266 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 } 17:01:46.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:01:46.268 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:01:46.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:01:46.268 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], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019]}) 17:01:46.268 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:01:46.269 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 17:01:46.269 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 } 17:01:46.269 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 17:01:46.269 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 17:01:46.269 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 17:01:46.602 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 17:01:46.603 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 } 17:01:46.603 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 17:01:46.603 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 17:01:46.603 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 } 17:01:46.603 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 17:01:46.604 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 17:01:46.604 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 } 17:01:46.604 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 17:01:46.604 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 17:01:46.605 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T17:01:46.604174132+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:01:46.605 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 17:01:46.606 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 17:01:46.606 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 17:01:46.607 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 17:01:46.607 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 17:01:46.607 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 } 17:01:46.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 17:01:46.610 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 17:01:46.654 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) 17:01:46.753 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 17:01:46.753 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 17:01:46.754 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 1.0 } 17:01:46.755 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 851.56Hz 17:01:46.755 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 17:01:46.755 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 17:01:46.756 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 17:01:46.802 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 17:01:46.803 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20683999999999997, Enable control depth: 0.2, Depth control enabled: false 17:01:46.803 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 17:01:49.684 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2932.94Hz 17:01:52.292 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7571.34Hz 17:01:54.850 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4256.99Hz 17:01:57.435 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3044.95Hz 17:02:00.111 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5393.95Hz 17:02:03.019 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4149.24Hz 17:02:06.071 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3483.76Hz 17:02:09.040 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2326.85Hz 17:02:12.022 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4518.53Hz 17:02:14.922 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5112.45Hz 17:02:18.141 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3669.99Hz 17:02:21.797 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6422.15Hz 17:02:24.638 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1752.75Hz 17:02:25.198 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 17:02:25.199 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 17:02:25.199 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... 17:02:25.199 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 17:02:25.199 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 17:02:25.199 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... 17:02:25.199 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... 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 17:02:25.200 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 17:02:25.200 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 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 17:02:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 17:02:34.862 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 17:02:34.862 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 17:02:34.862086584 +01:00 17:02:34.862 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 17:02:34.862 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:02:34.862 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 17:02:34.862 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:02:34.862 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], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 17:02:34.862 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:02:34.863 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] } 17:02:35.217 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], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 17:02:35.217 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:02:42.167 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], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 17:02:42.168 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 }) 17:02:42.539 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:02:42.539 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:02:42.539 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:02:42.539 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:02:42.539 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:02:42.539 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:02:42.539 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:02:42.539 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 17:02:42.539 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 17:02:42.539 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 17:02:42.539 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 17:02:42.539 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 17:02:42.539 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], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 17:02:42.539 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:02:42.540 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 17:02:42.540 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 } 17:02:42.540 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 17:02:42.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:02:42.541 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 17:02:42.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:02:42.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:02:42.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:02:42.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:02:42.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:02:42.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:02:42.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:02:42.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:02:42.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:02:42.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:02:42.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:02:42.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:02:42.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:02:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:02:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:02:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:02:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:02:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:02:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:02:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:02:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:02:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:02:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:02:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:02:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:02:42.542 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], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 17:02:42.542 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 }) 17:02:42.542 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 17:02:42.542 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 } 17:02:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 17:02:42.543 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 17:02:42.543 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 17:02:42.869 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 17:02:42.870 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 } 17:02:42.870 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 17:02:42.870 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 17:02:42.870 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 } 17:02:42.870 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 17:02:42.870 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 17:02:42.870 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 } 17:02:42.871 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 17:02:42.871 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 17:02:42.871 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 17:02:42.871 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T17:02:42.871119012+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:02:42.871 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 17:02:42.871 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 } 17:02:42.871 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 17:02:42.877 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 17:02:42.878 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 17:02:42.923 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) 17:02:42.924 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 17:02:43.029 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 17:02:43.030 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1056.93Hz 17:02:43.032 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 17:02:43.033 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 17:02:43.033 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 } 17:02:43.033 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 17:02:43.034 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 17:02:43.034 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00035999999999999997, Enable control depth: 0.2, Depth control enabled: true 17:02:43.109 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20643999999999998, Enable control depth: 0.2, Depth control enabled: false 17:02:43.109 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 17:02:43.109 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 17:02:48.961 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 769.02Hz 17:02:54.959 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4646.67Hz 17:03:01.015 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2282.62Hz 17:03:07.144 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1573.22Hz 17:03:13.172 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2788.38Hz 17:03:19.380 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3749.52Hz 17:03:25.220 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 345.56Hz 17:03:31.044 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4720.19Hz 17:03:36.840 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 898.30Hz 17:03:42.519 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 993.74Hz 17:03:48.652 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3186.10Hz 17:03:54.758 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4497.31Hz 17:04:00.708 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1379.78Hz 17:04:06.662 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3557.00Hz 17:04:12.336 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7334.71Hz 17:04:17.594 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1414.72Hz 17:04:22.693 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5913.35Hz 17:04:27.853 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5297.65Hz 17:04:33.772 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1129.24Hz 17:04:40.597 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7072.79Hz 17:04:40.812 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 17:04:40.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 17:04:40.812 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 17:04:40.812 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... 17:04:40.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 17:04:40.813 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... 17:04:40.813 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-26T17:02:42.871119012+01:00_task_executor' 17:04:40.813 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... 17:04:40.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 17:04:40.813 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... 17:04:40.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 17:04:40.813 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 17:04:40.813 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 17:04:40.813 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'state_estimator' 17:04:40.813 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) 17:04:40.813 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'control' 17:04:50.420 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 17:04:50.420 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 17:04:50.420408173 +01:00 17:04:50.420 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 17:04:50.420 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:04:50.420 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 17:04:50.420 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:04:50.420 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], "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], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "dvl_location": [0.24675, 0.0, 0.10174]}) 17:04:50.420 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:04:50.421 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] } 17:04:50.774 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], "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], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "dvl_location": [0.24675, 0.0, 0.10174]}) 17:04:50.774 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:04:57.745 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], "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], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "dvl_location": [0.24675, 0.0, 0.10174]}) 17:04:57.746 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:04:58.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:04:58.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:04:58.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:04:58.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:04:58.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:04:58.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:04:58.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:04:58.116 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 17:04:58.117 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 17:04:58.117 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 17:04:58.117 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 17:04:58.117 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 17:04:58.117 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], "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], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "dvl_location": [0.24675, 0.0, 0.10174]}) 17:04:58.117 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:04:58.117 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 17:04:58.117 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 } 17:04:58.117 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 17:04:58.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:04:58.118 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 17:04:58.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:04:58.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:04:58.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:04:58.119 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], "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], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "dvl_location": [0.24675, 0.0, 0.10174]}) 17:04:58.119 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:04:58.119 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 17:04:58.119 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 } 17:04:58.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 17:04:58.120 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 17:04:58.120 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 17:04:58.449 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 17:04:58.450 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 } 17:04:58.450 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 17:04:58.451 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 17:04:58.451 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 } 17:04:58.451 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 17:04:58.451 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 17:04:58.451 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 } 17:04:58.451 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 17:04:58.452 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 17:04:58.452 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T17:04:58.451736085+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:04:58.452 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 17:04:58.453 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 17:04:58.453 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 } 17:04:58.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 17:04:58.455 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 17:04:58.456 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 17:04:58.509 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) 17:04:58.510 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 17:04:58.623 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 17:04:58.624 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 951.19Hz 17:04:58.626 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 17:04:58.627 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 17:04:58.627 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 } 17:04:58.627 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 17:04:58.627 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00016000000000000007, Enable control depth: 0.2, Depth control enabled: true 17:04:58.628 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 17:04:58.704 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 17:04:58.704 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 17:04:58.705 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20051999999999998, Enable control depth: 0.2, Depth control enabled: false 17:05:04.405 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 950.88Hz 17:05:10.417 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2782.66Hz 17:05:16.414 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 737.59Hz 17:05:22.638 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1308.16Hz 17:05:28.669 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3256.05Hz 17:05:34.806 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4742.71Hz 17:05:40.942 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 832.98Hz 17:05:46.915 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3237.51Hz 17:05:53.024 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5438.24Hz 17:05:59.513 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1325.08Hz 17:06:01.597 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 17:06:01.597 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 17:10:05.441 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 17:10:05.441 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 17:10:05.441183059 +01:00 17:10:05.441 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 17:10:05.441 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:10:05.441 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 17:10:05.441 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:10:05.441 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], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 17:10:05.441 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:10:05.442 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] } 17:10:05.829 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], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 17:10:05.830 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:10:12.499 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], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 17:10:12.499 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 }) 17:10:12.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:10:12.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:10:12.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:10:12.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:10:12.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:10:12.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:10:12.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:10:12.865 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 17:10:12.865 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 17:10:12.865 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 17:10:12.865 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 17:10:12.865 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 17:10:12.865 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], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 17:10:12.865 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:10:12.865 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 17:10:12.865 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 } 17:10:12.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 17:10:12.866 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:10:12.866 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 17:10:12.866 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:10:12.866 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:10:12.866 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:10:12.866 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:10:12.866 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:10:12.867 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], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 17:10:12.867 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:10:12.867 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 17:10:12.867 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 } 17:10:12.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 17:10:12.868 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 17:10:12.868 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 17:10:13.236 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 17:10:13.236 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 } 17:10:13.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 17:10:13.236 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 17:10:13.236 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 } 17:10:13.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 17:10:13.237 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 17:10:13.237 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 } 17:10:13.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 17:10:13.237 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 17:10:13.237 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 17:10:13.237 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T17:10:13.237323335+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:10:13.237 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 17:10:13.237 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 } 17:10:13.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 17:10:13.243 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 17:10:13.244 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 17:10:13.293 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) 17:10:13.295 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 17:10:13.414 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 17:10:13.415 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1089.89Hz 17:10:13.416 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 17:10:13.418 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 17:10:13.418 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 17:10:13.418 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 } 17:10:13.418 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00035999999999999997, Enable control depth: 0.2, Depth control enabled: true 17:10:13.418 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 17:10:13.500 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20459999999999998, Enable control depth: 0.2, Depth control enabled: false 17:10:13.501 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 17:10:13.501 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 17:10:19.402 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 989.51Hz 17:10:25.218 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2570.50Hz 17:10:30.803 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3216.04Hz 17:10:36.396 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1310.11Hz 17:10:42.211 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 911.05Hz 17:10:47.913 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4940.44Hz 17:10:53.546 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1334.39Hz 17:10:59.405 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3849.22Hz 17:11:05.153 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3231.41Hz 17:11:10.852 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1311.63Hz 17:11:16.836 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2208.31Hz 17:11:22.870 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2323.77Hz 17:11:29.098 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1390.38Hz 17:11:35.025 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3416.43Hz 17:11:40.947 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3394.61Hz 17:11:46.816 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1409.23Hz 17:11:52.617 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4034.75Hz 17:11:58.587 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4819.02Hz 17:12:04.372 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1088.08Hz 17:12:10.095 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3742.95Hz 17:12:15.954 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2844.10Hz 17:12:21.818 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1105.25Hz 17:12:27.705 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4766.38Hz 17:12:33.526 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2310.77Hz 17:12:39.603 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1361.13Hz 17:12:45.630 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3449.87Hz 17:12:51.623 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5261.50Hz 17:12:57.525 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 812.07Hz 17:13:03.449 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1388.07Hz 17:13:09.428 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4692.85Hz 17:13:15.421 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1348.87Hz 17:13:21.424 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4275.84Hz 17:13:27.289 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3866.60Hz 17:13:33.195 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 775.67Hz 17:13:39.148 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2616.73Hz 17:13:45.252 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3993.32Hz 17:13:51.239 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 990.31Hz 17:13:57.249 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4014.52Hz 17:14:03.304 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3453.49Hz 17:14:09.368 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 944.00Hz 17:14:15.276 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3175.96Hz 17:14:21.223 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3406.40Hz 17:14:27.157 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1504.41Hz 17:14:33.395 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3530.31Hz 17:14:39.594 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3128.92Hz 17:14:45.490 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1192.19Hz 17:14:51.356 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3312.00Hz 17:14:57.300 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7802.87Hz 17:15:03.324 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 861.33Hz 17:15:09.286 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3391.23Hz 17:15:15.253 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4083.05Hz 17:15:21.423 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 823.12Hz 17:15:28.461 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5471.36Hz 17:15:34.697 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5169.72Hz 17:15:40.654 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1532.39Hz 17:15:46.898 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1288.83Hz 17:15:54.082 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5923.68Hz 17:16:00.868 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 743.60Hz 17:16:08.310 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5894.18Hz 17:16:14.009 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1915.90Hz 17:16:19.568 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1756.01Hz 17:16:25.272 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3157.98Hz 17:16:30.877 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4833.00Hz 17:16:36.584 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1658.92Hz 17:16:41.983 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2790.52Hz 17:16:48.107 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1669.11Hz 17:16:54.149 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1335.43Hz 17:17:03.457 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8525.08Hz 17:17:10.612 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7026.27Hz 17:17:16.630 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1402.30Hz 17:17:24.912 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1389.63Hz 17:17:34.449 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4171.72Hz 17:17:40.822 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1103.00Hz 17:17:49.011 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4745.16Hz 17:17:55.916 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2070.99Hz 17:18:03.414 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 409.28Hz 17:18:10.607 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1530.72Hz 17:18:17.640 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3819.83Hz 17:18:24.911 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 730.16Hz 17:18:31.766 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4120.47Hz 17:18:38.112 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3317.68Hz 17:18:44.995 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 450.94Hz 17:18:50.767 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 912.72Hz 17:18:56.389 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 782.70Hz 17:19:04.615 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 526.74Hz 17:19:10.929 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5810.24Hz 17:19:12.993 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... 17:19:12.993 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... 17:19:12.993 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... 17:19:12.993 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 17:19:12.993 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 17:19:12.993 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 17:19:22.777 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 17:19:22.777 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 17:19:22.777434130 +01:00 17:19:22.777 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 17:19:22.777 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:19:22.777 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 17:19:22.777 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:19:22.777 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_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], "camera_location": [0.086, 0.0, 0.06019]}) 17:19:22.777 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:19:22.778 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] } 17:19:23.132 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_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], "camera_location": [0.086, 0.0, 0.06019]}) 17:19:23.133 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:19:28.942 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_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], "camera_location": [0.086, 0.0, 0.06019]}) 17:19:28.943 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:19:29.332 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:19:29.332 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:19:29.332 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:19:29.332 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:19:29.332 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:19:29.332 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:19:29.332 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:19:29.332 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 17:19:29.332 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 17:19:29.332 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 17:19:29.332 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 17:19:29.332 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 17:19:29.332 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_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], "camera_location": [0.086, 0.0, 0.06019]}) 17:19:29.333 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:19:29.333 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 17:19:29.333 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 } 17:19:29.333 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:19:29.334 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:19:29.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:19:29.335 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:19:29.335 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:19:29.335 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:19:29.335 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_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], "camera_location": [0.086, 0.0, 0.06019]}) 17:19:29.335 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:19:29.335 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 17:19:29.335 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 } 17:19:29.335 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 17:19:29.335 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 17:19:29.336 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 17:19:29.682 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 17:19:29.682 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 } 17:19:29.682 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 17:19:29.682 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 17:19:29.682 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 } 17:19:29.682 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 17:19:29.682 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 17:19:29.682 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 } 17:19:29.682 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 17:19:29.682 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 17:19:29.683 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T17:19:29.682923420+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:19:29.683 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 17:19:29.683 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 17:19:29.683 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 } 17:19:29.683 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 17:19:29.691 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 17:19:29.692 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 17:19:29.739 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) 17:19:29.740 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 17:19:29.847 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 17:19:29.848 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1001.96Hz 17:19:29.849 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 17:19:29.853 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00003999999999999998, Enable control depth: 0.2, Depth control enabled: true 17:19:29.853 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 17:19:29.853 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 } 17:19:29.854 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 17:19:29.854 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 17:19:29.925 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20856, Enable control depth: 0.2, Depth control enabled: false 17:19:29.926 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 17:19:29.926 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 17:19:35.822 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 904.99Hz 17:19:41.882 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1797.94Hz 17:19:47.622 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3666.79Hz 17:19:53.506 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 656.47Hz 17:20:01.053 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4955.43Hz 17:20:06.569 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5682.08Hz 17:20:11.937 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 706.06Hz 17:20:17.542 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2287.89Hz 17:20:23.475 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2881.44Hz 17:20:29.721 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1476.08Hz 17:20:35.262 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5399.33Hz 17:20:40.885 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7334.98Hz 17:20:46.601 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1038.39Hz 17:20:52.923 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1983.99Hz 17:20:59.510 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2931.03Hz 17:21:06.943 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 823.13Hz 17:21:14.427 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 857.60Hz 17:21:21.669 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5109.68Hz 17:21:30.907 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1292.14Hz 17:21:37.198 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6170.48Hz 17:21:43.015 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3766.71Hz 17:21:50.067 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 479.60Hz 17:21:56.128 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5685.21Hz 17:22:02.194 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5614.82Hz 17:22:09.744 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 363.42Hz 17:22:17.527 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2777.53Hz 17:22:25.930 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2928.51Hz 17:22:32.634 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1241.08Hz 17:22:38.496 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5598.26Hz 17:22:46.165 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4600.09Hz 17:22:52.852 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 762.20Hz 17:22:58.534 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3335.94Hz 17:23:04.768 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5233.46Hz 17:23:10.502 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1019.20Hz 17:23:16.490 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2722.82Hz 17:23:22.532 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4309.77Hz 17:23:28.402 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1609.24Hz 17:23:34.112 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5003.55Hz 17:23:39.881 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3654.86Hz 17:23:46.198 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1321.73Hz 17:23:52.057 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4716.36Hz 17:23:57.678 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6604.50Hz 17:24:03.210 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 712.43Hz 17:24:09.038 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3419.07Hz 17:24:14.957 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3576.67Hz 17:24:21.659 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 753.30Hz 17:24:27.864 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2269.11Hz 17:24:33.746 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2455.38Hz 17:24:40.445 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1141.50Hz 17:24:46.469 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7144.95Hz 17:24:52.080 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1173.95Hz 17:24:57.822 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 444.10Hz 17:25:04.702 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5360.81Hz 17:25:08.174 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 17:25:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 17:25:08.174 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... 17:25:08.175 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 17:25:08.175 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 17:25:08.175 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 17:25:08.175 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 17:25:08.175 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 17:25:08.175 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 17:25:08.175 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 17:25:08.175 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... 17:25:08.175 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 17:25:08.175 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 17:25:08.175 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 17:25:08.176 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 17:25:08.176 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 17:25:08.176 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 17:25:08.176 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 17:25:08.176 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... 17:25:08.176 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 17:25:08.176 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... 17:25:08.176 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'state_estimator' 17:25:08.176 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 17:25:08.176 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) 17:25:08.176 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 17:25:18.244 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 17:25:18.244 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 17:25:18.244099522 +01:00 17:25:18.244 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 17:25:18.244 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:25:18.244 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 17:25:18.244 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:25:18.244 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_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 17:25:18.244 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:25:18.245 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] } 17:25:18.601 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_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 17:25:18.601 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:26:05.652 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 17:26:05.652 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 17:26:05.652349328 +01:00 17:26:05.652 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 17:26:05.652 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:26:05.652 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 17:26:05.652 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:26:05.652 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "imu_location": [0.0, 0.0, 0.0]}) 17:26:05.652 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:26:05.653 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] } 17:26:06.003 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "imu_location": [0.0, 0.0, 0.0]}) 17:26:06.003 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:26:12.716 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "imu_location": [0.0, 0.0, 0.0]}) 17:26:12.716 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:26:13.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:26:13.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:26:13.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:26:13.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:26:13.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:26:13.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:26:13.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:26:13.091 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 17:26:13.091 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 17:26:13.091 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 17:26:13.091 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 17:26:13.091 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 17:26:13.091 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "imu_location": [0.0, 0.0, 0.0]}) 17:26:13.091 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:26:13.091 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 17:26:13.091 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 } 17:26:13.091 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 17:26:13.092 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:26:13.093 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:26:13.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:26:13.093 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "imu_location": [0.0, 0.0, 0.0]}) 17:26:13.094 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 }) 17:26:13.094 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 17:26:13.094 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 } 17:26:13.094 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 17:26:13.095 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 17:26:13.096 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 17:26:13.445 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 17:26:13.445 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 } 17:26:13.446 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 17:26:13.446 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 17:26:13.446 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 } 17:26:13.446 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 17:26:13.446 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 17:26:13.446 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 } 17:26:13.446 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 17:26:13.446 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 17:26:13.447 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 17:26:13.447 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T17:26:13.446757891+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:26:13.447 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 17:26:13.447 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 } 17:26:13.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 17:26:13.451 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 17:26:13.451 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 17:26:13.496 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) 17:26:13.497 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 17:26:13.619 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 17:26:13.621 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 637.28Hz 17:26:13.626 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 17:26:13.629 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00016000000000000007, Enable control depth: 0.2, Depth control enabled: true 17:26:13.629 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 17:26:13.629 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 17:26:13.629 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 } 17:26:13.629 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 17:26:13.708 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 17:26:13.708 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 17:26:13.708 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20051999999999998, Enable control depth: 0.2, Depth control enabled: false 17:26:19.700 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1626.51Hz 17:26:25.864 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2719.46Hz 17:26:31.957 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4633.88Hz 17:26:37.989 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 601.85Hz 17:26:40.404 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... 17:26:40.404 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... 17:26:40.404 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 17:26:40.404 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 17:26:40.404 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 17:26:40.404 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 17:26:40.405 ERROR [robot_core/path_planning/src/lib.rs:227] Cannot reach control, stopping path planner... 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 17:26:40.405 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... 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'path_planner' stopped 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 17:26:40.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 17:26:40.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 17:26:40.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 17:26:40.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 17:26:40.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 17:26:40.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 17:26:40.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 17:26:40.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 17:26:40.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 17:26:40.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 17:26:40.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 17:26:40.406 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 17:26:40.406 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... 17:26:40.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 17:26:40.406 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-26T17:26:13.446757891+01:00_task_executor' 17:26:40.455 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'simulator' stopped 17:26:40.534 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... 17:26:40.534 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... 17:26:40.534 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped 17:26:41.404 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:54] State estimator error on recv: Timeout, stopping... 17:26:41.404 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... 17:26:41.404 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 17:26:41.404 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'state_estimator' 17:26:41.404 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) 17:26:41.404 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'control' 17:26:41.404 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) 17:26:41.404 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'path_planner' 17:26:41.404 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) 17:26:41.404 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'task_scheduler' 17:26:41.404 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) 17:26:41.405 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'mock_task_manager' 17:26:41.405 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) 17:26:41.405 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'grpc_server' 17:26:41.405 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) 17:26:41.405 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'simulator' 17:26:41.405 INFO [robot_core/launch/src/lib.rs:286] All threads have stopped 17:26:41.405 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... 17:26:41.405 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... 17:27:05.837 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 17:27:05.837 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 17:27:05.837483274 +01:00 17:27:05.837 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 17:27:05.837 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:27:05.837 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 17:27:05.837 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:27:05.837 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], "gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019]}) 17:27:05.837 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:27:05.838 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] } 17:27:06.212 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], "gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019]}) 17:27:06.212 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 }) 17:27:13.079 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], "gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019]}) 17:27:13.079 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:27:13.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:27:13.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:27:13.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:27:13.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:27:13.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:27:13.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:27:13.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:27:13.516 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 17:27:13.516 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 17:27:13.516 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 17:27:13.517 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 17:27:13.517 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 17:27:13.517 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], "gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019]}) 17:27:13.517 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 }) 17:27:13.517 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 17:27:13.517 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 } 17:27:13.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 17:27:13.518 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:27:13.518 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 17:27:13.518 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:27:13.518 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:27:13.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:27:13.519 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019]}) 17:27:13.519 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:27:13.519 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 17:27:13.519 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 } 17:27:13.520 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 17:27:13.520 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 17:27:13.520 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 17:27:13.960 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 17:27:13.961 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 } 17:27:13.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 17:27:13.961 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 17:27:13.961 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 } 17:27:13.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 17:27:13.962 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 17:27:13.962 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 } 17:27:13.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 17:27:13.962 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 17:27:13.962 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T17:27:13.962147403+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:27:13.962 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 17:27:13.962 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 17:27:13.962 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 } 17:27:13.963 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 17:27:13.967 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 17:27:13.968 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 17:27:14.053 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) 17:27:14.055 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 17:27:14.177 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 17:27:14.180 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 17:27:14.181 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 512.51Hz 17:27:14.183 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 17:27:14.184 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 17:27:14.184 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 } 17:27:14.184 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 17:27:14.185 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 17:27:14.287 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 17:27:14.287 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 17:27:14.287 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20875999999999997, Enable control depth: 0.2, Depth control enabled: false 17:27:20.135 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1193.54Hz 17:27:25.846 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2453.80Hz 17:27:31.388 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4357.32Hz 17:27:37.182 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1264.87Hz 17:27:42.811 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 709.70Hz 17:27:48.035 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3845.02Hz 17:27:53.943 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1201.19Hz 17:28:01.345 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6369.06Hz 17:28:06.998 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6949.51Hz 17:28:10.266 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 17:28:10.267 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... 17:28:10.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 17:28:10.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 17:28:10.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 17:28:10.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 17:28:10.267 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... 17:28:10.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 17:28:10.267 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 17:28:10.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 17:28:21.005 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 17:28:21.005 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 17:28:21.005749917 +01:00 17:28:21.005 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 17:28:21.005 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:28:21.005 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 17:28:21.005 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:28:21.005 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "left_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0]}) 17:28:21.005 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:28:21.006 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] } 17:28:21.348 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "left_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0]}) 17:28:21.349 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:28:28.577 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "left_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0]}) 17:28:28.578 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:28:28.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:28:28.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:28:28.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:28:28.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:28:28.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:28:28.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:28:28.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:28:28.969 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 17:28:28.969 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 17:28:28.969 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 17:28:28.969 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 17:28:28.969 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 17:28:28.969 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "left_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0]}) 17:28:28.969 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:28:28.969 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 17:28:28.969 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 } 17:28:28.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 17:28:28.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:28:28.970 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 17:28:28.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:28:28.971 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "left_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0]}) 17:28:28.971 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:28:28.971 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 17:28:28.971 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 } 17:28:28.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 17:28:28.972 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 17:28:28.972 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 17:28:29.300 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 17:28:29.301 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 } 17:28:29.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 17:28:29.301 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 17:28:29.301 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 } 17:28:29.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 17:28:29.301 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 17:28:29.301 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 } 17:28:29.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 17:28:29.301 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 17:28:29.302 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 17:28:29.302 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T17:28:29.301814063+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:28:29.302 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 17:28:29.302 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 } 17:28:29.302 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 17:28:29.306 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 17:28:29.307 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 17:28:29.356 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) 17:28:29.357 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 17:28:29.455 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 17:28:29.457 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 973.12Hz 17:28:29.458 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 17:28:29.460 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 17:28:29.460 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 } 17:28:29.460 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 17:28:29.460 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.0006399999999999997, Enable control depth: 0.2, Depth control enabled: true 17:28:29.460 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 17:28:29.541 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20647999999999997, Enable control depth: 0.2, Depth control enabled: false 17:28:29.541 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 17:28:29.542 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 17:28:33.361 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 17:28:33.361 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 17:31:20.907 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 17:31:20.907 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 17:31:20.907741611 +01:00 17:31:20.907 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 17:31:20.907 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:31:20.907 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 17:31:20.907 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:31:20.907 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "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], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223]}) 17:31:20.907 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:31:20.908 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] } 17:31:21.248 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "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], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223]}) 17:31:21.248 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:31:46.054 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 17:31:46.054 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 17:31:46.054555743 +01:00 17:31:46.054 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 17:31:46.054 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:31:46.054 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 17:31:46.054 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:31:46.054 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "top_forward_thruster_location": [1.014, 0.0, -0.258], "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], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 17:31:46.054 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:31:46.055 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] } 17:31:46.427 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "top_forward_thruster_location": [1.014, 0.0, -0.258], "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], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 17:31:46.427 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:33:42.590 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 17:33:42.591 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 17:33:42.591007400 +01:00 17:33:42.591 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 17:33:42.591 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:33:42.591 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 17:33:42.591 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:33:42.591 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], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174]}) 17:33:42.591 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:33:42.592 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] } 17:33:42.979 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], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174]}) 17:33:42.979 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 }) 17:36:13.922 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 17:36:13.922 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 17:36:13.922666141 +01:00 17:36:13.922 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 17:36:13.922 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:36:13.922 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 17:36:13.922 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:36:13.922 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_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174]}) 17:36:13.922 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:36:13.924 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] } 17:36:14.297 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_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174]}) 17:36:14.298 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:36:21.383 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_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174]}) 17:36:21.383 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:36:21.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:36:21.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:36:21.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:36:21.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:36:21.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:36:21.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:36:21.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:36:21.779 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 17:36:21.779 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 17:36:21.779 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 17:36:21.780 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 17:36:21.780 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 17:36:21.780 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_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174]}) 17:36:21.780 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:36:21.780 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 17:36:21.780 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 } 17:36:21.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 17:36:21.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:36:21.783 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 17:36:21.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:36:21.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:36:21.785 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_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174]}) 17:36:21.785 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:36:21.785 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 17:36:21.785 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 } 17:36:21.785 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 17:36:21.786 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 17:36:21.786 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 17:36:22.154 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 17:36:22.154 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 } 17:36:22.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 17:36:22.155 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 17:36:22.155 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 } 17:36:22.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 17:36:22.155 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 17:36:22.155 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 } 17:36:22.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 17:36:22.155 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 17:36:22.156 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 17:36:22.156 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T17:36:22.155762501+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:36:22.157 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 17:36:22.157 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 } 17:36:22.158 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 17:36:22.162 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 17:36:22.163 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 17:36:22.250 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) 17:36:22.252 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 17:36:22.377 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 17:36:22.379 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 428.36Hz 17:36:22.383 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 17:36:22.385 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 17:36:22.385 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 } 17:36:22.386 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 17:36:22.386 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00035999999999999997, Enable control depth: 0.2, Depth control enabled: true 17:36:22.386 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 17:36:22.475 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20464, Enable control depth: 0.2, Depth control enabled: false 17:36:22.475 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 17:36:22.475 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 17:36:26.904 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 17:36:26.904 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... 17:36:26.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 17:36:26.904 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... 17:36:26.904 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... 17:36:26.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 17:36:26.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 17:36:26.904 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 17:36:26.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 17:36:26.904 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 17:36:26.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 17:36:26.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 17:36:26.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 17:36:26.905 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'state_estimator' 17:36:26.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 17:36:26.905 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) 17:36:26.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 17:36:26.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 17:36:26.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 17:36:58.786 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 17:36:58.786 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 17:36:58.786738024 +01:00 17:36:58.786 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 17:36:58.786 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:36:58.786 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 17:36:58.786 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:36:58.786 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], "left_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 17:36:58.787 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:36:58.788 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] } 17:36:59.180 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], "left_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 17:36:59.180 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:37:06.031 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], "left_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 17:37:06.032 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:37:06.392 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:37:06.393 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:37:06.393 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:37:06.393 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:37:06.393 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:37:06.393 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:37:06.393 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:37:06.393 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 17:37:06.393 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 17:37:06.393 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 17:37:06.393 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 17:37:06.393 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 17:37:06.393 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], "left_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 17:37:06.393 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:37:06.393 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 17:37:06.393 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 } 17:37:06.394 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 17:37:06.394 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:37:06.394 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:37:06.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:37:06.396 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:37:06.396 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:37:06.396 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:37:06.396 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:37:06.396 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], "left_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 17:37:06.396 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:37:06.396 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 17:37:06.396 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 } 17:37:06.396 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 17:37:06.397 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 17:37:06.397 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 17:37:06.700 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 17:37:06.701 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 } 17:37:06.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 17:37:06.701 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 17:37:06.701 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 } 17:37:06.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 17:37:06.701 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 17:37:06.701 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 } 17:37:06.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 17:37:06.701 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 17:37:06.702 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 17:37:06.702 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 17:37:06.702 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T17:37:06.701932527+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:37:06.702 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 17:37:06.702 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 17:37:06.702 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 } 17:37:06.702 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 17:37:06.702 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 17:37:06.704 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 17:37:06.756 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) 17:37:06.853 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 17:37:06.853 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 1.0 } 17:37:06.854 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 17:37:06.854 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1149.29Hz 17:37:06.854 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 17:37:06.855 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 17:37:06.856 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 17:37:06.936 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20687999999999998, Enable control depth: 0.2, Depth control enabled: false 17:37:06.936 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 17:37:06.936 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 17:37:09.475 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 17:37:09.475 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... 17:37:09.475 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... 17:37:09.475 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... 17:37:09.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 17:37:09.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 17:37:09.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 17:37:09.475 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 17:37:09.475 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 17:37:09.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 17:37:09.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 17:37:09.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 17:37:09.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 17:37:09.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 17:37:09.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 17:37:09.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 17:37:09.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 18:04:51.960 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 18:04:51.960 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 18:04:51.960478655 +01:00 18:04:51.960 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 18:04:51.960 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 18:04:51.960 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 18:04:51.960 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 18:04:51.960 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], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 18:04:51.960 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:04:51.962 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] } 18:04:52.210 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], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 18:04:52.211 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 }) 18:04:59.090 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], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 18:04:59.090 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:04:59.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 18:04:59.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 18:04:59.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 18:04:59.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 18:04:59.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 18:04:59.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 18:04:59.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 18:04:59.423 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 18:04:59.423 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 18:04:59.423 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 18:04:59.423 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 18:04:59.423 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 18:04:59.423 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], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 18:04:59.423 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 }) 18:04:59.423 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 18:04:59.423 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 } 18:04:59.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 18:04:59.425 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 18:04:59.425 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 18:04:59.425 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 18:04:59.426 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 18:04:59.427 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 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 18:04:59.427 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 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 18:04:59.427 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 18:04:59.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 18:04:59.427 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], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 18:04:59.427 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:04:59.427 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 18:04:59.427 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 } 18:04:59.428 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 18:04:59.428 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 18:04:59.429 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 18:04:59.737 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 18:04:59.737 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 } 18:04:59.737 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 18:04:59.737 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 18:04:59.737 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 } 18:04:59.737 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 18:04:59.737 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 18:04:59.737 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 } 18:04:59.737 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 18:04:59.738 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 18:04:59.738 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 18:04:59.738 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T18:04:59.737978678+01:00_task_executor': Tried to start logging but no MongoDB client configured 18:04:59.738 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 18:04:59.738 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 } 18:04:59.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 18:04:59.743 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 18:04:59.743 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 18:04:59.773 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) 18:04:59.773 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)] }] 18:04:59.841 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 18:04:59.842 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1055.79Hz 18:04:59.843 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 18:04:59.846 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00003999999999999998, Enable control depth: 0.2, Depth control enabled: true 18:04:59.847 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 18:04:59.847 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 } 18:04:59.847 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 18:04:59.848 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 18:04:59.964 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 18:04:59.965 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 18:04:59.965 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20856, Enable control depth: 0.2, Depth control enabled: false 18:05:08.327 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 617.03Hz 18:05:16.754 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2619.34Hz 18:05:25.067 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1703.08Hz 18:05:33.399 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1000.93Hz 18:05:41.556 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3259.12Hz 18:05:49.771 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2061.44Hz 18:05:57.917 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 501.43Hz 18:06:06.125 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2171.67Hz 18:06:14.459 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2637.81Hz 18:06:22.851 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1110.41Hz 18:06:31.065 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 764.17Hz 18:06:39.372 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2138.76Hz 18:06:47.534 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 886.97Hz 18:06:55.500 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2156.27Hz 18:07:03.415 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 706.00Hz 18:07:11.667 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 445.74Hz 18:07:19.608 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3850.00Hz 18:07:27.623 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4525.36Hz 18:07:36.120 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 957.02Hz 18:07:44.707 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2890.08Hz 18:07:52.908 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2813.11Hz 18:08:01.106 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 933.88Hz 18:08:09.210 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1658.15Hz 18:08:17.485 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1339.94Hz 18:08:25.875 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 726.55Hz 18:08:34.072 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2924.31Hz 18:08:41.891 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3083.01Hz 18:08:49.988 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 847.27Hz 18:08:58.209 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3617.55Hz 18:09:06.445 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1885.04Hz 18:09:14.954 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 710.71Hz 18:09:23.107 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2014.58Hz 18:09:31.240 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2753.96Hz 18:09:56.810 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 18:09:56.810 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 18:09:56.810927950 +01:00 18:09:56.810 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 18:09:56.811 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 18:09:56.811 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 18:09:56.811 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 18:09:56.811 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], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "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], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0]}) 18:09:56.811 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:09:56.812 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] } 18:09:57.073 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], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "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], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0]}) 18:09:57.074 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:10:04.139 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], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "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], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0]}) 18:10:04.140 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:10:04.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 18:10:04.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 18:10:04.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 18:10:04.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 18:10:04.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 18:10:04.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 18:10:04.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 18:10:04.403 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 18:10:04.403 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 18:10:04.403 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 18:10:04.403 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 18:10:04.403 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 18:10:04.403 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], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "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], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0]}) 18:10:04.404 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 }) 18:10:04.404 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 18:10:04.404 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 } 18:10:04.404 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 18:10:04.404 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 18:10:04.404 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 18:10:04.404 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 18:10:04.405 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 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 18:10:04.405 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 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 18:10:04.405 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 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 18:10:04.405 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], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "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], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0]}) 18:10:04.405 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:10:04.405 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 18:10:04.405 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 } 18:10:04.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 18:10:04.405 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 18:10:04.405 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 18:10:04.635 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 18:10:04.635 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 } 18:10:04.635 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 18:10:04.635 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 18:10:04.635 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 } 18:10:04.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 18:10:04.636 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 18:10:04.636 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 } 18:10:04.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 18:10:04.636 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 18:10:04.636 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T18:10:04.636171147+01:00_task_executor': Tried to start logging but no MongoDB client configured 18:10:04.636 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 18:10:04.636 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 18:10:04.636 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 } 18:10:04.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 18:10:04.638 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 18:10:04.638 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 18:10:04.684 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) 18:10:04.685 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)] }] 18:10:04.757 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 18:10:04.758 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1303.73Hz 18:10:04.761 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 18:10:04.763 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 18:10:04.763 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9992589934978323 } 18:10:04.764 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 18:10:04.765 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00004000000000000002, Enable control depth: 0.2, Depth control enabled: true 18:10:04.765 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 18:10:04.867 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20043999999999998, Enable control depth: 0.2, Depth control enabled: false 18:10:04.867 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 18:10:04.867 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 18:10:11.837 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1246.79Hz 18:10:19.083 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2979.31Hz 18:10:26.382 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2023.87Hz 18:10:33.848 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 657.84Hz 18:10:41.241 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3678.24Hz 18:10:48.504 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3460.88Hz 18:10:55.731 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 360.26Hz 18:11:03.015 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1965.04Hz 18:11:10.640 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4299.67Hz 18:11:18.064 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 744.03Hz 18:11:25.484 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2856.99Hz 18:11:32.850 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3220.68Hz 18:11:40.319 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 995.18Hz 18:11:47.870 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1866.96Hz 18:11:55.301 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2424.64Hz 18:12:02.702 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 935.57Hz 18:12:10.029 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 599.62Hz 18:12:17.387 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3134.82Hz 18:12:24.774 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1194.17Hz 18:12:32.202 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3286.39Hz 18:12:39.525 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3907.75Hz 18:12:46.432 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 744.07Hz 18:12:53.268 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1890.52Hz 18:13:00.064 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1711.23Hz 18:13:06.973 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 835.01Hz 18:13:13.759 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3198.65Hz 18:13:21.488 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3019.96Hz 18:13:29.052 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 945.21Hz 18:13:36.581 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1075.88Hz 18:13:43.702 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2689.78Hz 18:13:50.886 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1058.16Hz 18:13:57.923 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3444.11Hz 18:14:05.139 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2119.08Hz 18:14:12.321 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 940.25Hz 18:14:19.419 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2967.12Hz 18:14:26.621 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2299.56Hz 18:14:33.839 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1188.75Hz 18:14:41.090 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4778.38Hz 18:14:48.203 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4286.31Hz 18:14:55.263 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 562.80Hz 18:15:02.421 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2406.00Hz 18:15:09.572 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2511.52Hz 18:15:16.605 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1341.36Hz 18:15:24.220 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1666.81Hz 18:15:31.616 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1144.18Hz 18:15:38.370 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 943.52Hz 18:15:45.666 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 906.98Hz 18:15:52.673 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3967.42Hz 18:15:59.618 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 552.57Hz 18:16:07.196 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1530.04Hz 18:16:16.059 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2916.12Hz 18:16:24.409 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 999.18Hz 18:16:32.515 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 669.91Hz 18:16:40.729 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2185.37Hz 18:16:48.676 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1169.99Hz 18:16:56.670 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1763.76Hz 18:17:04.377 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3499.87Hz 18:17:11.819 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 283.43Hz 18:17:19.742 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3249.87Hz 18:17:28.013 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2097.48Hz 18:17:36.069 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 273.63Hz 18:17:44.182 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1096.88Hz 18:42:07.442 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 18:42:07.442 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 18:42:07.442519456 +01:00 18:42:07.442 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 18:42:07.442 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 18:42:07.442 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 18:42:07.442 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 18:42:07.442 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], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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_forward_thruster_location": [1.014, -0.223, 0.144]}) 18:42:07.442 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:42:07.443 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] } 18:42:07.692 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], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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_forward_thruster_location": [1.014, -0.223, 0.144]}) 18:42:07.692 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:42:08.807 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], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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_forward_thruster_location": [1.014, -0.223, 0.144]}) 18:42:08.807 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:42:09.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 18:42:09.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 18:42:09.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 18:42:09.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 18:42:09.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 18:42:09.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 18:42:09.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 18:42:09.065 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 18:42:09.065 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 18:42:09.065 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 18:42:09.065 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 18:42:09.065 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 18:42:09.065 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], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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_forward_thruster_location": [1.014, -0.223, 0.144]}) 18:42:09.065 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:42:09.065 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 18:42:09.065 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 } 18:42:09.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 18:42:09.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 18:42:09.066 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 18:42:09.067 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 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 18:42:09.067 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 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 18:42:09.067 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 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 18:42:09.067 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], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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_forward_thruster_location": [1.014, -0.223, 0.144]}) 18:42:09.067 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:42:09.067 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 18:42:09.067 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 } 18:42:09.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 18:42:09.068 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 18:42:09.068 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 18:42:09.284 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 18:42:09.284 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 } 18:42:09.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 18:42:09.284 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 18:42:09.284 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 } 18:42:09.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 18:42:09.284 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 18:42:09.284 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 } 18:42:09.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 18:42:09.284 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 18:42:09.284 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 18:42:09.284 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T18:42:09.284801621+01:00_task_executor': Tried to start logging but no MongoDB client configured 18:42:09.285 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 18:42:09.285 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 } 18:42:09.285 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 18:42:09.291 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 18:42:09.291 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 18:42:09.339 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) 18:42:09.339 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)] }] 18:42:09.407 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 18:42:09.408 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1391.00Hz 18:42:09.409 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 18:42:09.411 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 18:42:09.412 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00003999999999999998, Enable control depth: 0.2, Depth control enabled: true 18:42:09.412 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 } 18:42:09.413 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 18:42:09.413 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 18:42:09.474 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 18:42:09.474 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20856, Enable control depth: 0.2, Depth control enabled: false 18:42:09.474 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 18:42:13.579 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1657.83Hz 18:42:17.670 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4179.96Hz 18:42:21.565 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2973.68Hz 18:42:25.818 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2148.09Hz 18:42:29.919 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3079.60Hz 18:42:34.056 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3348.11Hz 18:42:38.158 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2101.23Hz 18:42:42.320 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3973.54Hz 18:42:46.500 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2711.28Hz 18:42:50.606 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3082.40Hz 18:42:54.723 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3358.05Hz 18:42:58.998 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2225.52Hz 18:43:03.752 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2799.65Hz 18:43:08.005 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3836.71Hz 18:43:12.273 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5262.33Hz 18:43:16.351 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1882.26Hz 18:43:20.320 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2939.95Hz 18:43:25.740 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4907.23Hz 18:43:30.937 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2294.48Hz 18:43:33.689 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 18:43:33.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 18:43:33.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 18:43:33.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 18:43:33.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 18:43:33.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 18:43:33.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 18:43:33.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 18:43:33.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 18:43:33.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 18:43:33.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 18:43:33.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 18:43:33.689 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... 18:43:33.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 18:43:33.689 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... 18:43:33.689 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... 18:43:33.689 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 18:43:33.689 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 18:43:33.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 18:43:33.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 18:43:33.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 18:43:43.258 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 18:43:43.259 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 18:43:43.259018845 +01:00 18:43:43.259 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 18:43:43.259 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 18:43:43.259 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 18:43:43.259 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 18:43:43.259 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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0]}) 18:43:43.259 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:43:43.260 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] } 18:43:43.520 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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0]}) 18:43:43.520 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:43:50.609 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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0]}) 18:43:50.609 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:43:50.925 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 18:43:50.925 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 18:43:50.925 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 18:43:50.925 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 18:43:50.925 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 18:43:50.925 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 18:43:50.925 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 18:43:50.925 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 18:43:50.925 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 18:43:50.925 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 18:43:50.925 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 18:43:50.925 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 18:43:50.925 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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0]}) 18:43:50.925 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:43:50.925 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 18:43:50.925 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 } 18:43:50.925 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 18:43:50.926 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 18:43:50.926 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 18:43:50.926 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 18:43:50.926 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 18:43:50.926 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 18:43:50.926 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 18:43:50.926 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 18:43:50.926 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 18:43:50.926 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 18:43:50.927 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 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 18:43:50.927 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 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 18:43:50.927 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 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 18:43:50.927 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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0]}) 18:43:50.927 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:43:50.927 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 18:43:50.927 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 } 18:43:50.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 18:43:50.928 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 18:43:50.928 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 18:43:51.206 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 18:43:51.206 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 } 18:43:51.206 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 18:43:51.206 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 18:43:51.206 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 } 18:43:51.206 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 18:43:51.206 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 18:43:51.206 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 } 18:43:51.207 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 18:43:51.207 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 18:43:51.207 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 18:43:51.207 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 18:43:51.207 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 } 18:43:51.207 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 18:43:51.207 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T18:43:51.207213793+01:00_task_executor': Tried to start logging but no MongoDB client configured 18:43:51.212 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 18:43:51.212 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 18:43:51.244 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) 18:43:51.245 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)] }] 18:43:51.326 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 18:43:51.327 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1553.74Hz 18:43:51.330 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 18:43:51.333 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00004000000000000002, Enable control depth: 0.2, Depth control enabled: true 18:43:51.334 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 18:43:51.334 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 } 18:43:51.334 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 18:43:51.335 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 18:43:51.437 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20851999999999998, Enable control depth: 0.2, Depth control enabled: false 18:43:51.437 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 18:43:51.437 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 18:43:58.651 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 688.07Hz 18:44:06.178 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2226.98Hz 18:44:13.756 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3424.19Hz 18:44:21.155 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1544.72Hz 18:44:28.193 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3135.04Hz 18:44:35.138 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3398.72Hz 18:44:42.121 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 743.95Hz 18:44:49.857 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3177.49Hz 18:44:57.476 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3512.51Hz 18:45:04.971 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 784.43Hz 18:45:12.907 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4978.15Hz 18:45:16.191 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 18:45:16.488 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 18:45:17.006 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 18:45:21.290 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3608.02Hz 18:45:29.850 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 275.04Hz 18:45:37.097 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1130.74Hz 18:45:44.657 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4099.37Hz 18:45:52.258 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1008.84Hz 18:46:00.891 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4089.26Hz 18:46:08.586 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2450.74Hz 18:46:16.415 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 500.07Hz 18:46:23.371 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2556.51Hz 18:46:30.168 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1462.66Hz 18:46:37.038 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 908.53Hz 18:46:43.793 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3307.65Hz 18:46:50.688 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2825.87Hz 18:46:58.013 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 740.49Hz 18:47:05.351 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 641.18Hz 18:47:07.103 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 18:47:07.103 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 18:47:07.103 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 18:47:07.103 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 18:47:07.103 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 18:47:07.103 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 18:47:07.103 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 18:47:07.103 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 18:47:07.103 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 18:47:07.104 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 18:47:07.104 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... 18:47:07.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 18:47:07.104 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... 18:47:07.105 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-26T18:43:51.207213793+01:00_task_executor' 18:47:07.105 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... 18:47:07.105 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... 18:47:07.105 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 18:47:07.105 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 18:47:07.105 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 18:47:07.105 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 18:47:07.105 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'state_estimator' 18:47:16.419 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 18:47:16.419 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-26 18:47:16.419725958 +01:00 18:47:16.419 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 18:47:16.419 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/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-26/2025-02-26_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/2025-02-26/2025-02-26_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 18:47:16.419 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 18:47:16.420 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 18:47:16.420 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_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], "camera_location": [0.086, 0.0, 0.06019], "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], "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]}) 18:47:16.420 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:47:16.421 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] } 18:47:16.687 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_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], "camera_location": [0.086, 0.0, 0.06019], "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], "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]}) 18:47:16.687 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:49:46.671 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_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], "camera_location": [0.086, 0.0, 0.06019], "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], "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]}) 18:49:46.671 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 }) 18:49:46.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 18:49:46.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 18:49:46.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 18:49:46.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 18:49:46.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 18:49:46.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 18:49:46.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 18:49:46.906 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 18:49:46.907 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 18:49:46.907 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 18:49:46.907 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 18:49:46.907 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 18:49:46.907 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_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], "camera_location": [0.086, 0.0, 0.06019], "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], "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]}) 18:49:46.907 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:49:46.907 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 18:49:46.907 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 } 18:49:46.907 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 18:49:46.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 18:49:46.908 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 18:49:46.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 18:49:46.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 18:49:46.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 18:49:46.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 18:49:46.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 18:49:46.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 18:49:46.909 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 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 18:49:46.909 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 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 18:49:46.909 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 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 18:49:46.909 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_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], "camera_location": [0.086, 0.0, 0.06019], "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], "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]}) 18:49:46.909 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 18:49:46.909 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 18:49:46.909 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 } 18:49:46.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 18:49:46.909 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 18:49:46.909 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 18:49:47.117 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 18:49:47.117 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 } 18:49:47.117 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 18:49:47.117 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 18:49:47.117 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 } 18:49:47.117 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 18:49:47.117 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 18:49:47.117 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 } 18:49:47.117 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 18:49:47.117 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 18:49:47.117 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 18:49:47.117 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-26T18:49:47.117506790+01:00_task_executor': Tried to start logging but no MongoDB client configured 18:49:47.117 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 18:49:47.117 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 } 18:49:47.117 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 18:49:47.122 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 18:49:47.122 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 18:49:47.150 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) 18:49:47.151 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)] }] 18:49:47.205 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 18:49:47.206 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 810.16Hz 18:49:47.206 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 18:49:47.822 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 18:49:47.822 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 } 18:49:47.822 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 18:49:47.822 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00003999999999999998, Enable control depth: 0.2, Depth control enabled: true 18:49:47.822 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 18:50:15.332 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 18:50:15.333 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.2011739449103938, Enable control depth: 0.2, Depth control enabled: false 18:50:15.333 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 18:50:38.387 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers