13:00:20.895 INFO  [utilities/logging/src/logging.rs:120] ================================================================================
13:00:20.895 INFO  [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-27 13:00:20.895341153 +01:00
13:00:20.895 INFO  [utilities/logging/src/logging.rs:122] ================================================================================
13:00:20.895 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/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
13:00:20.895 INFO  [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root"
13:00:20.895 WARN  [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB
13:00:20.895 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "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], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258]})
13:00:20.895 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:00:20.896 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] }
13:00:21.226 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "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], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258]})
13:00:21.226 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:00:52.110 INFO  [utilities/logging/src/logging.rs:120] ================================================================================
13:00:52.110 INFO  [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-27 13:00:52.110396122 +01:00
13:00:52.110 INFO  [utilities/logging/src/logging.rs:122] ================================================================================
13:00:52.110 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/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
13:00:52.110 INFO  [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root"
13:00:52.110 WARN  [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB
13:00:52.110 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], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
13:00:52.110 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:00:52.111 INFO  [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
13:00:52.533 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], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
13:00:52.533 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:01:35.855 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], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
13:01:35.855 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:01:36.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu
13:01:36.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked
13:01:36.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track
13:01:36.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track
13:01:36.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile
13:01:36.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth
13:01:36.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer
13:01:36.259 WARN  [robot_core/launch/src/lib.rs:315] Magnetometer not enabled
13:01:36.259 WARN  [robot_core/launch/src/lib.rs:295] IMU not enabled
13:01:36.259 WARN  [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled
13:01:36.259 WARN  [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled
13:01:36.259 WARN  [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled
13:01:36.259 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
13:01:36.259 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 })
13:01:36.259 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator
13:01:36.259 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 }
13:01:36.260 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started
13:01:36.261 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager
13:01:36.261 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
13:01:36.261 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity
13:01:36.264 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
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity
13:01:36.264 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
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity
13:01:36.264 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
13:01:36.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity
13:01:36.264 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], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
13:01:36.264 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:01:36.264 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control
13:01:36.264 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 }
13:01:36.265 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started
13:01:36.265 INFO  [robot_core/control/src/control_safety.rs:49] Control starting...
13:01:36.265 INFO  [robot_core/control/src/control_safety.rs:51] Starting at 0.02
13:01:36.736 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner
13:01:36.736 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 }
13:01:36.737 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started
13:01:36.737 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler
13:01:36.737 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 }
13:01:36.737 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started
13:01:36.737 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager
13:01:36.737 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 }
13:01:36.737 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started
13:01:36.737 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services
13:01:36.737 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration
13:01:36.738 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-27T13:01:36.737706522+01:00_task_executor': Tried to start logging but no MongoDB client configured
13:01:36.738 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator
13:01:36.738 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 }
13:01:36.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started
13:01:36.742 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)]
13:01:36.742 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: []
13:01:36.837 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)
13:01:36.838 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)] }]
13:01:36.944 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
13:01:36.945 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 890.72Hz
13:01:36.990 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1))
13:01:37.026 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00016000000000000007, Enable control depth: 0.2, Depth control enabled: true
13:01:37.026 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
13:01:37.027 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 }
13:01:37.027 INFO  [robot_core/control/src/cascaded_control.rs:353] Disabling depth control.
13:01:37.027 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
13:01:38.768 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller
13:01:38.768 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20035999999999995, Enable control depth: 0.2, Depth control enabled: false
13:01:38.768 INFO  [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 
13:02:28.140 INFO  [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings
13:02:28.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude
13:02:28.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings
13:02:28.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity
13:02:28.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings
13:02:28.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity
13:02:28.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings
13:02:28.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity
13:02:28.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings
13:02:28.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity
13:02:28.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings
13:02:28.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity
13:02:28.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings
13:02:28.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity
13:02:28.141 INFO  [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers
13:02:28.141 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...
13:02:28.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped
13:02:28.141 INFO  [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-27T13:01:36.737706522+01:00_task_executor'
13:02:28.146 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...
13:02:28.146 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped
13:02:28.146 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
13:02:38.490 INFO  [utilities/logging/src/logging.rs:120] ================================================================================
13:02:38.490 INFO  [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-27 13:02:38.490749917 +01:00
13:02:38.490 INFO  [utilities/logging/src/logging.rs:122] ================================================================================
13:02:38.490 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/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
13:02:38.490 INFO  [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root"
13:02:38.490 WARN  [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB
13:02:38.490 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], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "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]})
13:02:38.490 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:02:38.491 INFO  [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
13:02:38.890 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], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "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]})
13:02:38.890 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:03:20.877 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], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "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]})
13:03:20.877 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:03:21.270 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu
13:03:21.270 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked
13:03:21.270 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track
13:03:21.270 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track
13:03:21.270 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile
13:03:21.270 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth
13:03:21.270 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer
13:03:21.270 WARN  [robot_core/launch/src/lib.rs:315] Magnetometer not enabled
13:03:21.270 WARN  [robot_core/launch/src/lib.rs:295] IMU not enabled
13:03:21.270 WARN  [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled
13:03:21.270 WARN  [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled
13:03:21.270 WARN  [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled
13:03:21.270 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], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "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]})
13:03:21.270 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:03:21.270 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator
13:03:21.270 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 }
13:03:21.271 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started
13:03:21.272 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager
13:03:21.272 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
13:03:21.272 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity
13:03:21.273 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
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity
13:03:21.273 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
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity
13:03:21.273 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
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity
13:03:21.273 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], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "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]})
13:03:21.273 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:03:21.273 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control
13:03:21.273 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 }
13:03:21.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started
13:03:21.274 INFO  [robot_core/control/src/control_safety.rs:49] Control starting...
13:03:21.274 INFO  [robot_core/control/src/control_safety.rs:51] Starting at 0.02
13:03:21.700 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner
13:03:21.700 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 }
13:03:21.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started
13:03:21.701 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler
13:03:21.701 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 }
13:03:21.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started
13:03:21.701 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager
13:03:21.701 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 }
13:03:21.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started
13:03:21.701 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services
13:03:21.701 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-27T13:03:21.701392929+01:00_task_executor': Tried to start logging but no MongoDB client configured
13:03:21.701 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration
13:03:21.702 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator
13:03:21.702 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 }
13:03:21.702 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started
13:03:21.711 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)]
13:03:21.711 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: []
13:03:21.793 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)
13:03:21.794 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)] }]
13:03:21.902 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
13:03:21.903 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 623.72Hz
13:03:21.904 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1))
13:03:21.951 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
13:03:21.952 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 }
13:03:21.953 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
13:03:21.953 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00003999999999999998, Enable control depth: 0.2, Depth control enabled: true
13:03:21.953 INFO  [robot_core/control/src/cascaded_control.rs:353] Disabling depth control.
13:03:23.615 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20047999999999996, Enable control depth: 0.2, Depth control enabled: false
13:03:23.615 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller
13:03:23.615 INFO  [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 
13:03:27.250 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
13:03:27.250 INFO  [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers
13:53:01.001 INFO  [utilities/logging/src/logging.rs:120] ================================================================================
13:53:01.001 INFO  [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-27 13:53:01.001192385 +01:00
13:53:01.001 INFO  [utilities/logging/src/logging.rs:122] ================================================================================
13:53:01.001 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/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
13:53:01.001 INFO  [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root"
13:53:01.001 WARN  [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB
13:53:01.001 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]})
13:53:01.001 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:53:01.002 INFO  [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
13:53:01.039 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]})
13:53:01.039 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:53:01.109 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]})
13:53:01.109 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:53:01.274 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu
13:53:01.274 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked
13:53:01.274 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track
13:53:01.274 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track
13:53:01.274 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile
13:53:01.274 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth
13:53:01.274 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer
13:53:01.274 WARN  [robot_core/launch/src/lib.rs:307] Magnetometer not enabled
13:53:01.274 WARN  [robot_core/launch/src/lib.rs:287] IMU not enabled
13:53:01.274 WARN  [robot_core/launch/src/lib.rs:324] Can Magnetometer not enabled
13:53:01.274 WARN  [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled
13:53:01.274 WARN  [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled
13:53:01.274 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]})
13:53:01.274 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:53:01.274 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator
13:53:01.274 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 }
13:53:01.274 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager
13:53:01.275 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity
13:53:01.275 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
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity
13:53:01.275 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
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity
13:53:01.275 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
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity
13:53:01.275 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]})
13:53:01.275 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:53:01.275 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control
13:53:01.275 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 }
13:53:01.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started
13:53:01.275 INFO  [robot_core/control/src/control_safety.rs:49] Control starting...
13:53:01.275 INFO  [robot_core/control/src/control_safety.rs:51] Starting at 0.02
13:53:01.391 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner
13:53:01.391 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 }
13:53:01.391 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started
13:53:01.391 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler
13:53:01.391 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 }
13:53:01.391 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started
13:53:01.391 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager
13:53:01.391 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 }
13:53:01.391 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started
13:53:01.391 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services
13:53:01.391 WARN  [peripherals/communication/src/lib.rs:65] Request server not enabled
13:53:01.391 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator
13:53:01.391 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 }
13:53:01.391 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-27T13:53:01.391893555+01:00_task_executor': Tried to start logging but no MongoDB client configured
13:53:01.392 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started
13:53:01.397 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)]
13:53:01.397 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: []
13:53:01.408 INFO  [robot_core/launch/src/lib.rs:272] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time)
13:53:01.409 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)] }]
13:53:01.438 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
13:53:01.438 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3526.60Hz
13:53:01.439 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1))
13:53:01.440 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
13:53:01.440 INFO  [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9966256821011561 }
13:53:01.440 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00016000000000000007, Enable control depth: 0.2, Depth control enabled: true
13:53:01.440 INFO  [robot_core/control/src/cascaded_control.rs:353] Disabling depth control.
13:53:01.440 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
13:53:01.457 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20655999999999997, Enable control depth: 0.2, Depth control enabled: false
13:53:01.457 INFO  [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 
13:53:01.457 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller
13:53:02.738 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7183.91Hz
13:53:03.983 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8055.29Hz
13:53:05.443 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4078.20Hz
13:53:07.297 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5949.05Hz
13:53:08.749 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7247.27Hz
13:53:10.211 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8497.62Hz
13:53:11.986 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4590.61Hz
13:53:14.563 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8852.93Hz
13:53:16.057 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3085.91Hz
13:53:17.574 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7364.75Hz
13:53:19.059 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8109.58Hz
13:53:20.550 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8573.90Hz
13:53:21.348 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped
13:53:21.349 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...
13:53:21.349 INFO  [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers
13:53:21.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu
13:53:21.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked
13:53:21.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track
13:53:21.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track
13:53:21.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile
13:53:21.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth
13:53:21.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer
13:53:21.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager
13:53:21.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control
13:53:21.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings
13:53:21.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position
13:53:21.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings
13:53:21.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position
13:53:21.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings
13:53:21.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position
13:53:21.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings
13:53:21.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude
13:53:21.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings
13:53:21.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude
13:53:21.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings
13:53:21.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude
13:53:21.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings
13:53:21.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity
13:53:21.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings
13:53:21.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity
13:53:21.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings
13:53:21.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity
13:53:21.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings
13:53:21.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity
13:53:21.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings
13:53:21.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity
13:53:21.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings
13:53:21.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity
13:53:21.351 INFO  [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers
13:53:21.351 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...
13:53:21.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped
13:53:21.352 INFO  [utilities/simulator/src/simulator.rs:201] Simulator dropped: Simulator()
13:53:21.352 INFO  [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-27T13:53:01.391893555+01:00_task_executor'
13:53:21.358 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...
13:53:21.358 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped
13:53:21.359 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
13:53:49.053 INFO  [utilities/logging/src/logging.rs:120] ================================================================================
13:53:49.053 INFO  [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-27 13:53:49.053547947 +01:00
13:53:49.053 INFO  [utilities/logging/src/logging.rs:122] ================================================================================
13:53:49.053 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/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
13:53:49.053 INFO  [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root"
13:53:49.053 WARN  [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB
13:53:49.053 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], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174]})
13:53:49.053 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:53:49.054 INFO  [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
13:53:49.085 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], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174]})
13:53:49.085 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:53:49.146 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], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174]})
13:53:49.146 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:53:49.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu
13:53:49.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked
13:53:49.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track
13:53:49.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track
13:53:49.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile
13:53:49.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth
13:53:49.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer
13:53:49.329 WARN  [robot_core/launch/src/lib.rs:307] Magnetometer not enabled
13:53:49.329 WARN  [robot_core/launch/src/lib.rs:287] IMU not enabled
13:53:49.329 WARN  [robot_core/launch/src/lib.rs:324] Can Magnetometer not enabled
13:53:49.329 WARN  [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled
13:53:49.329 WARN  [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled
13:53:49.330 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], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174]})
13:53:49.330 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:53:49.330 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator
13:53:49.330 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 }
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager
13:53:49.330 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity
13:53:49.330 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
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity
13:53:49.330 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
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity
13:53:49.330 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
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity
13:53:49.330 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], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174]})
13:53:49.330 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
13:53:49.330 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control
13:53:49.330 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 }
13:53:49.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started
13:53:49.331 INFO  [robot_core/control/src/control_safety.rs:49] Control starting...
13:53:49.331 INFO  [robot_core/control/src/control_safety.rs:51] Starting at 0.02
13:53:49.448 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner
13:53:49.448 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 }
13:53:49.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started
13:53:49.449 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler
13:53:49.449 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 }
13:53:49.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started
13:53:49.449 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager
13:53:49.449 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 }
13:53:49.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started
13:53:49.449 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services
13:53:49.449 WARN  [peripherals/communication/src/lib.rs:65] Request server not enabled
13:53:49.449 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator
13:53:49.449 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 }
13:53:49.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started
13:53:49.449 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-27T13:53:49.449195989+01:00_task_executor': Tried to start logging but no MongoDB client configured
13:53:49.452 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)]
13:53:49.452 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: []
13:53:49.466 INFO  [robot_core/launch/src/lib.rs:272] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time)
13:53:49.466 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)] }]
13:53:49.488 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
13:53:49.489 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 922.94Hz
13:53:49.490 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1))
13:53:49.492 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00035999999999999997, Enable control depth: 0.2, Depth control enabled: true
13:53:49.492 INFO  [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9956908343316551 }
13:53:49.492 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
13:53:49.492 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
13:53:49.492 INFO  [robot_core/control/src/cascaded_control.rs:353] Disabling depth control.
13:53:49.519 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller
13:53:49.519 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20851999999999998, Enable control depth: 0.2, Depth control enabled: false
13:53:49.520 INFO  [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 
13:53:51.253 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5576.41Hz
13:53:52.971 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5698.75Hz
13:53:54.574 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7257.79Hz
13:53:56.038 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 10248.11Hz
13:53:57.721 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9294.37Hz
13:53:58.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped
13:53:58.448 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...
13:53:58.448 INFO  [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers
13:53:58.448 ERROR [robot_core/path_planning/src/lib.rs:227] Cannot reach control, stopping path planner...
13:53:58.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped
13:53:58.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu
13:53:58.448 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...
13:53:58.448 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...
13:53:58.448 INFO  [utilities/simulator/src/simulator.rs:201] Simulator dropped: Simulator()
13:53:58.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked
13:53:58.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'path_planner' stopped
13:53:58.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track
13:53:58.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track
13:53:58.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile
13:53:58.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth
13:53:58.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer
13:53:58.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity
13:53:58.449 INFO  [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers
13:53:58.449 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...
13:53:58.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped
13:53:58.449 INFO  [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-27T13:53:49.449195989+01:00_task_executor'
13:53:58.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'simulator' stopped
13:53:59.448 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:54] State estimator error on recv: Timeout, stopping...
13:53:59.448 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...
13:53:59.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped
13:53:59.448 INFO  [robot_core/launch/src/lib.rs:276] Joined thread 'state_estimator'
13:53:59.448 INFO  [robot_core/launch/src/lib.rs:272] Trying to join thread 'control' (when the code is still running, this can take a long time)
13:53:59.448 INFO  [robot_core/launch/src/lib.rs:276] Joined thread 'control'
13:53:59.448 INFO  [robot_core/launch/src/lib.rs:272] Trying to join thread 'path_planner' (when the code is still running, this can take a long time)
13:53:59.448 INFO  [robot_core/launch/src/lib.rs:276] Joined thread 'path_planner'
13:53:59.448 INFO  [robot_core/launch/src/lib.rs:272] Trying to join thread 'task_scheduler' (when the code is still running, this can take a long time)
13:53:59.448 INFO  [robot_core/launch/src/lib.rs:276] Joined thread 'task_scheduler'
13:53:59.448 INFO  [robot_core/launch/src/lib.rs:272] Trying to join thread 'mock_task_manager' (when the code is still running, this can take a long time)
13:53:59.448 INFO  [robot_core/launch/src/lib.rs:276] Joined thread 'mock_task_manager'
13:53:59.448 INFO  [robot_core/launch/src/lib.rs:272] Trying to join thread 'simulator' (when the code is still running, this can take a long time)
13:53:59.448 INFO  [robot_core/launch/src/lib.rs:276] Joined thread 'simulator'
13:53:59.448 INFO  [robot_core/launch/src/lib.rs:278] All threads have stopped
13:53:59.448 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...
13:53:59.448 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "initial", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
14:28:55.684 INFO  [utilities/logging/src/logging.rs:120] ================================================================================
14:28:55.684 INFO  [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-27 14:28:55.684200317 +01:00
14:28:55.684 INFO  [utilities/logging/src/logging.rs:122] ================================================================================
14:28:55.684 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/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
14:28:55.684 INFO  [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root"
14:28:55.684 WARN  [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB
14:28:55.684 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144]})
14:28:55.684 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
14:28:55.685 INFO  [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
14:28:55.717 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144]})
14:28:55.717 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
14:28:55.798 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144]})
14:28:55.798 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer
14:28:55.955 WARN  [robot_core/launch/src/lib.rs:307] Magnetometer not enabled
14:28:55.955 WARN  [robot_core/launch/src/lib.rs:287] IMU not enabled
14:28:55.955 WARN  [robot_core/launch/src/lib.rs:324] Can Magnetometer not enabled
14:28:55.955 WARN  [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled
14:28:55.955 WARN  [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled
14:28:55.955 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144]})
14:28:55.955 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
14:28:55.955 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager
14:28:55.955 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position
14:28:55.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity
14:28:55.956 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144]})
14:28:55.956 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
14:28:55.956 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
14:28:55.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started
14:28:55.956 INFO  [robot_core/control/src/control_safety.rs:49] Control starting...
14:28:55.956 INFO  [robot_core/control/src/control_safety.rs:51] Starting at 0.02
14:28:56.104 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner
14:28:56.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
14:28:56.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started
14:28:56.104 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler
14:28:56.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
14:28:56.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started
14:28:56.104 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager
14:28:56.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false }
14:28:56.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started
14:28:56.104 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services
14:28:56.104 WARN  [peripherals/communication/src/lib.rs:65] Request server not enabled
14:28:56.104 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator
14:28:56.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
14:28:56.104 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-27T14:28:56.104800278+01:00_task_executor': Tried to start logging but no MongoDB client configured
14:28:56.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started
14:28:56.107 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)]
14:28:56.108 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: []
14:28:56.121 INFO  [robot_core/launch/src/lib.rs:272] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time)
14:28:56.122 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }]
14:28:56.158 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
14:28:56.159 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1292.87Hz
14:28:56.160 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1))
14:28:56.161 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
14:28:56.161 INFO  [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.997452714945998 }
14:28:56.162 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
14:28:56.162 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.0010000000000000002, Enable control depth: 0.2, Depth control enabled: true
14:28:56.162 INFO  [robot_core/control/src/cascaded_control.rs:353] Disabling depth control.
14:28:56.181 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20051999999999998, Enable control depth: 0.2, Depth control enabled: false
14:28:56.182 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller
14:28:56.182 INFO  [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 
14:28:57.430 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5989.89Hz
14:28:58.749 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6799.25Hz
14:29:00.015 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5898.35Hz
14:29:01.291 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7889.30Hz
14:29:02.644 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7088.08Hz
14:29:04.032 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6951.69Hz
14:29:05.522 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7089.38Hz
14:29:06.889 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 10802.75Hz
14:29:08.227 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6221.85Hz
14:29:09.705 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5180.86Hz
14:29:11.234 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9275.66Hz
14:29:13.305 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5467.89Hz
14:29:14.919 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6249.57Hz
14:29:16.463 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8943.66Hz
14:29:18.039 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7674.42Hz
14:29:19.674 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4903.28Hz
14:29:21.137 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6845.66Hz
14:29:22.563 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5338.03Hz
14:29:24.064 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8388.49Hz
14:29:25.486 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8131.47Hz
14:29:27.090 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4585.33Hz
14:29:29.165 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5890.22Hz
14:29:30.818 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6890.94Hz
14:29:32.411 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6771.31Hz
14:29:34.072 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6313.25Hz
14:29:35.585 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8227.88Hz
14:29:37.135 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6239.12Hz
14:29:38.627 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9078.12Hz
14:29:40.033 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7016.21Hz
14:29:41.489 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8625.30Hz
14:29:43.050 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7769.04Hz
14:29:44.903 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5232.29Hz
14:29:46.296 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7473.79Hz
14:29:47.673 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8339.45Hz
14:29:49.071 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 10320.13Hz
14:29:50.460 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5419.82Hz
14:29:51.918 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5750.33Hz
14:29:53.433 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6934.67Hz
14:29:54.847 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7783.13Hz
14:29:56.318 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5794.78Hz
14:29:58.349 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8856.30Hz
14:30:00.135 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3255.16Hz
14:30:02.005 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6836.95Hz
14:30:03.483 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8097.89Hz
14:30:04.898 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5298.27Hz
14:30:06.263 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6404.51Hz
14:30:07.643 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8613.49Hz
14:30:09.184 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6972.09Hz
14:30:10.577 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5354.95Hz
14:30:12.074 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7353.10Hz
14:30:13.498 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8957.20Hz
14:30:14.935 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7404.72Hz
14:30:16.380 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5564.43Hz
14:30:17.919 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5605.48Hz
14:30:19.919 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4839.69Hz
14:30:21.528 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6963.25Hz
14:30:23.084 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6547.85Hz
14:30:24.517 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6448.78Hz
14:30:26.129 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7190.83Hz
14:30:27.780 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6587.05Hz
14:30:29.282 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6451.16Hz
14:30:30.876 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6274.31Hz
14:30:32.680 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4875.93Hz
14:30:34.517 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7379.86Hz
14:30:36.302 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9403.36Hz
14:30:37.873 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5763.92Hz
14:30:39.499 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6693.93Hz
14:30:41.202 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4653.20Hz
14:30:42.848 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5828.32Hz
14:30:44.300 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9705.06Hz
14:30:45.796 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8609.26Hz
14:30:47.285 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5556.91Hz
14:30:48.786 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5073.39Hz
14:30:50.358 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5718.24Hz
14:30:52.240 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6133.01Hz
14:30:53.746 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8612.30Hz
14:30:55.182 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7193.31Hz
14:30:56.528 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6231.69Hz
14:30:57.946 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8971.35Hz
14:30:59.508 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6176.65Hz
14:31:01.125 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5774.67Hz
14:31:02.711 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8553.81Hz
14:31:04.182 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6495.36Hz
14:31:05.642 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6720.75Hz
14:31:07.028 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5499.61Hz
14:31:08.498 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6458.36Hz
14:31:10.197 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9243.77Hz
14:31:11.751 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5854.90Hz
14:31:13.348 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2747.76Hz
14:31:14.380 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped
14:31:14.380 INFO  [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers
14:31:14.380 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
14:31:14.380 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
14:31:14.380 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
14:31:14.380 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu
14:31:14.380 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped
14:31:14.380 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked
14:31:14.380 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track
14:31:14.380 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
14:31:14.380 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track
14:31:14.380 INFO  [robot_core/launch/src/lib.rs:276] Joined thread 'state_estimator'
14:31:14.380 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile
14:31:14.380 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped
14:31:14.380 INFO  [utilities/simulator/src/simulator.rs:201] Simulator dropped: Simulator()
16:51:42.809 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
16:51:42.809 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-27 16:51:42.809209158 +01:00
16:51:42.809 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
16:51:42.809 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
16:51:42.809 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
16:51:42.809 DEBUG [utilities/logging/src/time_series_logger.rs:96] Creating logger to table: logs
16:51:42.813 DEBUG [utilities/common/src/modeling/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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "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]})
16:51:42.813 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:51:42.814 INFO  [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
16:51:42.853 DEBUG [utilities/common/src/modeling/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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "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]})
16:51:42.853 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:51:42.918 DEBUG [utilities/common/src/modeling/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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "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]})
16:51:42.918 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:51:43.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: imu
16:51:43.085 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_waterlinked
16:51:43.088 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_bottom_track
16:51:43.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_water_track
16:51:43.092 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_current_profile
16:51:43.094 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_depth
16:51:43.096 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: magnetometer
16:51:43.098 WARN  [robot_core/launch/src/lib.rs:332] Magnetometer not enabled
16:51:43.098 WARN  [robot_core/launch/src/lib.rs:312] IMU not enabled
16:51:43.098 WARN  [robot_core/launch/src/lib.rs:349] Can Magnetometer not enabled
16:51:43.098 WARN  [robot_core/launch/src/lib.rs:367] Waterlinked DVL not enabled
16:51:43.098 WARN  [robot_core/launch/src/lib.rs:392] Nortek DVL not enabled
16:51:43.098 DEBUG [utilities/common/src/modeling/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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "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]})
16:51:43.098 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:51:43.098 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: kinematic_state
16:51:43.101 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: environment_state
16:51:43.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: se_debug_stats
16:51:43.107 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator
16:51:43.107 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
16:51:43.107 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
16:51:43.107 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: thruster_manager
16:51:43.112 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
16:51:43.112 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/cascaded_control
16:51:43.117 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position_settings
16:51:43.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position
16:51:43.131 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position_settings
16:51:43.134 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position
16:51:43.139 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position_settings
16:51:43.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position
16:51:43.147 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude_settings
16:51:43.150 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude
16:51:43.156 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude_settings
16:51:43.158 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude
16:51:43.164 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude_settings
16:51:43.167 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude
16:51:43.173 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity_settings
16:51:43.176 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity
16:51:43.183 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity_settings
16:51:43.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity
16:51:43.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity_settings
16:51:43.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity
16:51:43.201 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity_settings
16:51:43.204 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity
16:51:43.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity_settings
16:51:43.213 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity
16:51:43.220 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity_settings
16:51:43.223 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity
16:51:43.229 DEBUG [utilities/common/src/modeling/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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "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]})
16:51:43.229 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:51:43.229 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control
16:51:43.229 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
16:51:43.229 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
16:51:43.229 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
16:51:43.229 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 28533.614679181
16:51:43.347 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner
16:51:43.347 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
16:51:43.347 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
16:51:43.347 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler
16:51:43.347 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
16:51:43.347 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
16:51:43.347 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager
16:51:43.347 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false }
16:51:43.347 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'mock_task_manager' successfully started
16:51:43.347 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services
16:51:43.347 WARN  [peripherals/communication/src/lib.rs:69] Request server not enabled
16:51:43.347 INFO  [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899.
16:51:43.347 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator
16:51:43.347 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
16:51:43.348 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
16:51:43.395 INFO  [robot_core/launch/src/lib.rs:287] Waiting until code stops running so threads can be joined
16:51:43.395 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'state_estimator'
16:51:43.467 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
16:51:43.468 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 933.70Hz
16:51:45.921 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4025.51Hz
16:51:47.578 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 10134.69Hz
16:51:48.894 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6590.18Hz
16:51:50.278 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8409.01Hz
16:51:51.626 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6880.37Hz
16:51:53.230 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7636.50Hz
16:51:54.596 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8808.79Hz
16:51:55.961 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9396.91Hz
16:51:57.430 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8138.55Hz
16:51:59.330 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5553.49Hz
16:52:00.999 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3441.67Hz
16:52:02.605 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7743.11Hz
16:52:04.122 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4574.38Hz
16:52:05.879 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5182.45Hz
16:52:07.613 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7003.88Hz
16:52:09.202 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4402.84Hz
16:52:10.852 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4771.72Hz
16:52:12.328 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8225.10Hz
16:52:13.871 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3985.60Hz
16:52:15.490 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7370.66Hz
16:52:16.959 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7167.33Hz
16:52:18.454 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5124.29Hz
16:52:20.172 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7681.44Hz
16:52:21.422 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:52:21.422 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'mock_task_manager' stopped
16:52:21.422 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:52:21.422 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:52:21.423 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:52:21.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'task_scheduler' stopped
16:52:21.423 INFO  [utilities/simulator/src/simulator.rs:201] Simulator dropped: Simulator()
16:52:21.428 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'simulator' stopped
16:52:21.430 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'control' stopped
16:52:21.430 ERROR [robot_core/path_planning/src/lib.rs:226] Cannot reach control, stopping path planner...
16:52:21.430 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:52:21.430 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'path_planner' stopped
16:52:21.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'state_estimator' stopped
16:52:21.437 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'state_estimator'
16:52:21.437 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'control'
16:52:21.437 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'control'
16:52:21.437 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'path_planner'
16:52:21.437 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'path_planner'
16:52:21.437 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'task_scheduler'
16:52:21.437 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'task_scheduler'
16:52:21.437 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'mock_task_manager'
16:52:21.437 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'mock_task_manager'
16:52:21.437 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'simulator'
16:52:21.437 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'simulator'
16:52:21.437 INFO  [robot_core/launch/src/lib.rs:303] All threads have stopped
16:52:21.437 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "main", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:52:21.437 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "initial", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:52:26.502 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
16:52:26.502 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-27 16:52:26.502337899 +01:00
16:52:26.502 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
16:52:26.502 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
16:52:26.502 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
16:52:26.502 DEBUG [utilities/logging/src/time_series_logger.rs:96] Creating logger to table: logs
16:52:26.507 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073]})
16:52:26.507 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:52:26.508 INFO  [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
16:52:26.536 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073]})
16:52:26.536 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:52:26.606 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073]})
16:52:26.606 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:52:26.746 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: imu
16:52:26.751 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_waterlinked
16:52:26.754 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_bottom_track
16:52:26.756 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_water_track
16:52:26.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_current_profile
16:52:26.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_depth
16:52:26.765 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: magnetometer
16:52:26.767 WARN  [robot_core/launch/src/lib.rs:332] Magnetometer not enabled
16:52:26.767 WARN  [robot_core/launch/src/lib.rs:312] IMU not enabled
16:52:26.767 WARN  [robot_core/launch/src/lib.rs:349] Can Magnetometer not enabled
16:52:26.767 WARN  [robot_core/launch/src/lib.rs:367] Waterlinked DVL not enabled
16:52:26.767 WARN  [robot_core/launch/src/lib.rs:392] Nortek DVL not enabled
16:52:26.767 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073]})
16:52:26.767 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:52:26.767 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: kinematic_state
16:52:26.770 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: environment_state
16:52:26.772 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: se_debug_stats
16:52:26.774 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator
16:52:26.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
16:52:26.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
16:52:26.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: thruster_manager
16:52:26.777 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
16:52:26.777 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/cascaded_control
16:52:26.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position_settings
16:52:26.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position
16:52:26.795 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position_settings
16:52:26.798 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position
16:52:26.810 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position_settings
16:52:26.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position
16:52:26.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude_settings
16:52:26.821 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude
16:52:26.827 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude_settings
16:52:26.829 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude
16:52:26.834 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude_settings
16:52:26.836 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude
16:52:26.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity_settings
16:52:26.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity
16:52:26.850 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity_settings
16:52:26.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity
16:52:26.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity_settings
16:52:26.861 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity
16:52:26.866 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity_settings
16:52:26.869 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity
16:52:26.874 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity_settings
16:52:26.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity
16:52:26.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity_settings
16:52:26.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity
16:52:26.889 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073]})
16:52:26.889 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:52:26.890 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control
16:52:26.890 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
16:52:26.890 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
16:52:26.890 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
16:52:26.890 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 28577.275346735
16:52:27.020 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner
16:52:27.020 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
16:52:27.020 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
16:52:27.020 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler
16:52:27.020 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
16:52:27.020 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
16:52:27.020 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager
16:52:27.020 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false }
16:52:27.020 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'mock_task_manager' successfully started
16:52:27.020 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services
16:52:27.020 WARN  [peripherals/communication/src/lib.rs:69] Request server not enabled
16:52:27.020 INFO  [peripherals/communication/src/discovery_node.rs:25] Node:scout_joris available on port 10899.
16:52:27.020 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator
16:52:27.020 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
16:52:27.020 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
16:52:27.061 INFO  [robot_core/launch/src/lib.rs:287] Waiting until code stops running so threads can be joined
16:52:27.061 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'state_estimator'
16:52:27.131 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
16:52:27.132 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1048.58Hz
16:52:29.615 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3793.27Hz
16:52:31.530 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6260.80Hz
16:52:32.986 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6939.43Hz
16:52:34.487 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7350.94Hz
16:52:35.844 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6955.26Hz
16:52:37.399 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6210.99Hz
16:52:38.886 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9274.12Hz
16:52:40.294 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6457.03Hz
16:52:41.689 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5756.85Hz
16:52:43.069 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6801.38Hz
16:52:44.434 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7013.07Hz
16:52:45.821 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6784.08Hz
16:52:47.269 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7787.43Hz
16:52:48.708 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9337.16Hz
16:52:50.074 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7020.60Hz
16:52:51.548 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7799.76Hz
16:52:52.919 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7200.15Hz
16:52:54.313 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5163.05Hz
16:52:55.694 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7062.50Hz
16:52:57.150 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9287.21Hz
16:52:58.602 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6642.40Hz
16:53:00.030 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5702.78Hz
16:53:01.440 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6762.29Hz
16:53:02.875 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8167.27Hz
16:53:04.292 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7025.73Hz
16:53:05.720 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6001.64Hz
16:53:07.098 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6879.09Hz
16:53:08.516 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6524.22Hz
16:53:09.921 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7275.69Hz
16:53:11.300 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7164.71Hz
16:53:12.687 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7339.34Hz
16:53:14.155 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6276.79Hz
16:53:15.620 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6438.24Hz
16:53:17.114 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6241.11Hz
16:53:18.562 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9607.72Hz
16:53:20.023 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7027.80Hz
16:53:21.454 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6688.29Hz
16:53:22.928 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6924.82Hz
16:53:24.356 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6641.74Hz
16:53:25.846 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6664.31Hz
16:53:27.284 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8315.32Hz
16:53:28.772 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6903.88Hz
16:53:30.802 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2085.20Hz
16:53:33.086 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3217.57Hz
16:53:34.616 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5278.44Hz
16:53:36.253 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2821.26Hz
16:53:37.815 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7540.40Hz
16:53:39.337 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8564.28Hz
16:53:40.847 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6107.21Hz
16:53:42.288 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5545.57Hz
16:53:43.725 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5319.26Hz
16:53:45.173 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5065.68Hz
16:53:46.545 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7390.60Hz
16:53:47.993 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5455.27Hz
16:53:49.464 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7271.99Hz
16:53:50.886 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7318.45Hz
16:53:52.312 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6302.11Hz
16:53:53.773 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6948.88Hz
16:53:55.221 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8069.85Hz
16:53:56.641 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8174.74Hz
16:53:58.086 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7541.08Hz
16:53:59.523 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7218.91Hz
16:54:01.019 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6343.81Hz
16:54:02.512 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3826.61Hz
16:54:04.195 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4919.03Hz
16:54:05.689 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6364.40Hz
16:54:07.186 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6576.78Hz
16:54:08.677 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5965.88Hz
16:54:10.238 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5821.70Hz
16:54:11.915 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6589.35Hz
16:54:13.528 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4125.07Hz
16:54:15.144 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7358.62Hz
16:54:16.840 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3541.35Hz
16:54:17.583 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:54:17.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'mock_task_manager' stopped
16:54:17.583 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:54:17.583 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:54:17.584 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:54:17.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'task_scheduler' stopped
16:54:17.584 INFO  [utilities/simulator/src/simulator.rs:201] Simulator dropped: Simulator()
16:54:17.590 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'simulator' stopped
16:54:17.591 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'control' stopped
16:54:17.591 ERROR [robot_core/path_planning/src/lib.rs:226] Cannot reach control, stopping path planner...
16:54:17.591 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:54:17.591 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'path_planner' stopped
16:54:17.604 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'state_estimator' stopped
16:54:17.604 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'state_estimator'
16:54:17.604 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'control'
16:54:17.604 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'control'
16:54:17.604 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'path_planner'
16:54:17.604 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'path_planner'
16:54:17.604 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'task_scheduler'
16:54:17.604 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'task_scheduler'
16:54:17.604 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'mock_task_manager'
16:54:17.604 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'mock_task_manager'
16:54:17.604 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'simulator'
16:54:17.604 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'simulator'
16:54:17.604 INFO  [robot_core/launch/src/lib.rs:303] All threads have stopped
16:54:17.604 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "main", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:54:17.604 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "initial", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:54:19.385 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
16:54:19.385 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-27 16:54:19.385942926 +01:00
16:54:19.385 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
16:54:19.386 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
16:54:19.386 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
16:54:19.386 DEBUG [utilities/logging/src/time_series_logger.rs:96] Creating logger to table: logs
16:54:19.390 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "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], "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], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146]})
16:54:19.390 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:54:19.391 INFO  [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
16:54:19.417 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "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], "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], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146]})
16:54:19.417 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:54:19.486 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "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], "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], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146]})
16:54:19.486 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:54:19.631 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: imu
16:54:19.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_waterlinked
16:54:19.638 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_bottom_track
16:54:19.642 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_water_track
16:54:19.644 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_current_profile
16:54:19.647 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_depth
16:54:19.649 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: magnetometer
16:54:19.651 WARN  [robot_core/launch/src/lib.rs:332] Magnetometer not enabled
16:54:19.651 WARN  [robot_core/launch/src/lib.rs:312] IMU not enabled
16:54:19.651 WARN  [robot_core/launch/src/lib.rs:349] Can Magnetometer not enabled
16:54:19.651 WARN  [robot_core/launch/src/lib.rs:367] Waterlinked DVL not enabled
16:54:19.651 WARN  [robot_core/launch/src/lib.rs:392] Nortek DVL not enabled
16:54:19.651 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "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], "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], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146]})
16:54:19.651 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:54:19.651 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: kinematic_state
16:54:19.654 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: environment_state
16:54:19.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: se_debug_stats
16:54:19.658 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator
16:54:19.658 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
16:54:19.658 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
16:54:19.658 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: thruster_manager
16:54:19.661 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
16:54:19.661 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/cascaded_control
16:54:19.663 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position_settings
16:54:19.665 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position
16:54:19.671 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position_settings
16:54:19.674 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position
16:54:19.681 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position_settings
16:54:19.684 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position
16:54:19.693 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude_settings
16:54:19.697 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude
16:54:19.705 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude_settings
16:54:19.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude
16:54:19.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude_settings
16:54:19.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude
16:54:19.745 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity_settings
16:54:19.751 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity
16:54:19.766 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity_settings
16:54:19.772 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity
16:54:19.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity_settings
16:54:19.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity
16:54:19.802 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity_settings
16:54:19.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity
16:54:19.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity_settings
16:54:19.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity
16:54:19.823 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity_settings
16:54:19.830 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity
16:54:19.845 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "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], "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], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146]})
16:54:19.845 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:54:19.845 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control
16:54:19.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
16:54:19.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
16:54:19.846 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
16:54:19.846 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 28690.231540267
16:54:20.047 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner
16:54:20.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
16:54:20.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
16:54:20.047 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler
16:54:20.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
16:54:20.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
16:54:20.047 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager
16:54:20.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false }
16:54:20.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'mock_task_manager' successfully started
16:54:20.047 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services
16:54:20.047 INFO  [peripherals/communication/src/lib.rs:75] grpc listening on 0.0.0.0:10820
16:54:20.047 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration
16:54:20.047 INFO  [peripherals/communication/src/discovery_node.rs:25] Node:scout_joris available on port 10899.
16:54:20.047 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator
16:54:20.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
16:54:20.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
16:54:20.092 INFO  [robot_core/launch/src/lib.rs:287] Waiting until code stops running so threads can be joined
16:54:20.092 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'state_estimator'
16:54:20.161 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
16:54:20.162 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 930.35Hz
16:54:22.320 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3240.61Hz
16:54:24.499 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3679.16Hz
16:54:26.693 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4140.08Hz
16:54:28.830 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2027.02Hz
16:54:30.942 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5971.11Hz
16:54:33.039 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4377.88Hz
16:54:35.244 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4488.69Hz
16:54:37.204 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4700.79Hz
16:54:38.840 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8161.53Hz
16:54:40.526 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5931.02Hz
16:54:42.335 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5849.97Hz
16:54:44.316 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4654.22Hz
16:54:46.141 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6920.27Hz
16:54:47.836 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 10099.48Hz
16:54:49.533 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4718.67Hz
16:54:51.341 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6816.77Hz
16:54:53.126 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4303.56Hz
16:54:55.087 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4296.92Hz
16:54:56.769 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9049.61Hz
16:54:58.638 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8632.89Hz
16:54:59.662 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:54:59.662 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:54:59.662 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'path_planner' stopped
16:54:59.662 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:54:59.663 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:54:59.663 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'task_scheduler' stopped
16:54:59.663 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:54:59.663 INFO  [utilities/simulator/src/simulator.rs:201] Simulator dropped: Simulator()
16:54:59.677 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'simulator' stopped
16:54:59.678 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'control' stopped
16:54:59.681 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'state_estimator' stopped
16:54:59.682 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'state_estimator'
16:54:59.682 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'control'
16:54:59.682 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'control'
16:54:59.682 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'path_planner'
16:54:59.682 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'path_planner'
16:54:59.682 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'task_scheduler'
16:54:59.682 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'task_scheduler'
16:54:59.682 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'mock_task_manager'
16:55:00.098 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "grpc_services", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:55:09.120 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
16:55:09.120 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-27 16:55:09.120650371 +01:00
16:55:09.120 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
16:55:09.120 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
16:55:09.120 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
16:55:09.120 DEBUG [utilities/logging/src/time_series_logger.rs:96] Creating logger to table: logs
16:55:09.125 DEBUG [utilities/common/src/modeling/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_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], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146]})
16:55:09.125 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:55:09.126 INFO  [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
16:55:09.156 DEBUG [utilities/common/src/modeling/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_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], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146]})
16:55:09.156 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:55:09.221 DEBUG [utilities/common/src/modeling/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_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], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146]})
16:55:09.221 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:55:09.358 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: imu
16:55:09.360 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_waterlinked
16:55:09.364 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_bottom_track
16:55:09.366 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_water_track
16:55:09.369 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_current_profile
16:55:09.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_depth
16:55:09.373 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: magnetometer
16:55:09.375 WARN  [robot_core/launch/src/lib.rs:332] Magnetometer not enabled
16:55:09.375 WARN  [robot_core/launch/src/lib.rs:312] IMU not enabled
16:55:09.375 WARN  [robot_core/launch/src/lib.rs:349] Can Magnetometer not enabled
16:55:09.375 WARN  [robot_core/launch/src/lib.rs:367] Waterlinked DVL not enabled
16:55:09.375 WARN  [robot_core/launch/src/lib.rs:392] Nortek DVL not enabled
16:55:09.375 DEBUG [utilities/common/src/modeling/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_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], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146]})
16:55:09.375 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:55:09.375 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: kinematic_state
16:55:09.377 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: environment_state
16:55:09.380 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: se_debug_stats
16:55:09.382 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator
16:55:09.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
16:55:09.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
16:55:09.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: thruster_manager
16:55:09.385 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
16:55:09.385 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/cascaded_control
16:55:09.387 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position_settings
16:55:09.390 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position
16:55:09.396 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position_settings
16:55:09.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position
16:55:09.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position_settings
16:55:09.408 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position
16:55:09.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude_settings
16:55:09.416 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude
16:55:09.422 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude_settings
16:55:09.425 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude
16:55:09.431 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude_settings
16:55:09.433 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude
16:55:09.439 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity_settings
16:55:09.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity
16:55:09.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity_settings
16:55:09.451 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity
16:55:09.457 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity_settings
16:55:09.460 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity
16:55:09.466 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity_settings
16:55:09.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity
16:55:09.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity_settings
16:55:09.477 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity
16:55:09.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity_settings
16:55:09.485 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity
16:55:09.491 DEBUG [utilities/common/src/modeling/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_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], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146]})
16:55:09.491 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:55:09.491 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control
16:55:09.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
16:55:09.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
16:55:09.491 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
16:55:09.491 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 28739.87708993
16:55:09.604 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner
16:55:09.604 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
16:55:09.604 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
16:55:09.604 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler
16:55:09.604 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
16:55:09.604 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
16:55:09.604 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager
16:55:09.604 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false }
16:55:09.604 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'mock_task_manager' successfully started
16:55:09.604 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services
16:55:09.604 INFO  [peripherals/communication/src/lib.rs:75] grpc listening on 0.0.0.0:10820
16:55:09.604 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration
16:55:09.605 INFO  [peripherals/communication/src/discovery_node.rs:25] Node:scout_joris available on port 10899.
16:55:09.605 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator
16:55:09.605 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
16:55:09.605 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
16:55:09.624 INFO  [robot_core/launch/src/lib.rs:287] Waiting until code stops running so threads can be joined
16:55:09.624 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'state_estimator'
16:55:09.654 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
16:55:09.655 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1102.77Hz
16:55:10.958 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9318.36Hz
16:55:12.343 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7600.75Hz
16:55:13.903 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4716.07Hz
16:55:15.773 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6456.44Hz
16:55:17.505 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6852.04Hz
16:55:19.246 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5550.56Hz
16:55:20.927 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5639.84Hz
16:55:22.716 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6682.35Hz
16:55:24.726 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3089.10Hz
16:55:26.607 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6244.46Hz
16:55:28.047 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6248.16Hz
16:55:29.553 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5948.84Hz
16:55:31.172 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5872.37Hz
16:55:32.750 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7273.36Hz
16:55:34.394 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7256.10Hz
16:55:36.104 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6867.52Hz
16:55:37.723 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5631.68Hz
16:55:39.340 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5918.07Hz
16:55:40.908 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5630.16Hz
16:55:42.546 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8197.46Hz
16:55:44.138 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6268.26Hz
16:55:45.736 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5189.12Hz
16:55:47.295 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7576.91Hz
16:55:48.838 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7421.04Hz
16:55:50.418 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4143.26Hz
16:55:52.064 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7079.55Hz
16:55:53.664 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5548.96Hz
16:55:55.206 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5374.93Hz
16:55:56.842 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5771.87Hz
16:55:58.349 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6960.40Hz
16:56:00.033 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5295.43Hz
16:56:01.681 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7795.33Hz
16:56:03.266 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6595.96Hz
16:56:04.981 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7587.94Hz
16:56:06.551 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6623.44Hz
16:56:08.152 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6240.48Hz
16:56:09.801 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5991.40Hz
16:56:10.638 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:56:10.638 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:56:10.639 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:56:10.639 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:56:10.639 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'task_scheduler' stopped
16:56:10.639 INFO  [utilities/simulator/src/simulator.rs:201] Simulator dropped: Simulator()
16:56:10.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'simulator' stopped
16:56:10.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'control' stopped
16:56:10.659 ERROR [robot_core/path_planning/src/lib.rs:226] Cannot reach control, stopping path planner...
16:56:10.659 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:56:10.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'path_planner' stopped
16:56:10.676 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "grpc_services", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:56:10.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'state_estimator' stopped
16:56:10.711 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'state_estimator'
16:56:10.711 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'control'
16:56:10.711 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'control'
16:56:10.711 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'path_planner'
16:56:10.711 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'path_planner'
16:56:10.711 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'task_scheduler'
16:56:10.711 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'task_scheduler'
16:56:10.711 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'mock_task_manager'
16:56:20.164 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
16:56:20.164 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-27 16:56:20.164337388 +01:00
16:56:20.164 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
16:56:20.164 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
16:56:20.164 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
16:56:20.164 DEBUG [utilities/logging/src/time_series_logger.rs:96] Creating logger to table: logs
16:56:20.167 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223]})
16:56:20.167 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:56:20.168 INFO  [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
16:56:20.206 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223]})
16:56:20.206 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:56:20.264 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223]})
16:56:20.264 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:56:20.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: imu
16:56:20.410 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_waterlinked
16:56:20.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_bottom_track
16:56:20.417 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_water_track
16:56:20.419 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_current_profile
16:56:20.422 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_depth
16:56:20.424 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: magnetometer
16:56:20.426 WARN  [robot_core/launch/src/lib.rs:332] Magnetometer not enabled
16:56:20.426 WARN  [robot_core/launch/src/lib.rs:312] IMU not enabled
16:56:20.426 WARN  [robot_core/launch/src/lib.rs:349] Can Magnetometer not enabled
16:56:20.426 WARN  [robot_core/launch/src/lib.rs:367] Waterlinked DVL not enabled
16:56:20.426 WARN  [robot_core/launch/src/lib.rs:392] Nortek DVL not enabled
16:56:20.426 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223]})
16:56:20.426 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:56:20.426 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: kinematic_state
16:56:20.428 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: environment_state
16:56:20.430 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: se_debug_stats
16:56:20.433 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator
16:56:20.433 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
16:56:20.433 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
16:56:20.433 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: thruster_manager
16:56:20.435 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
16:56:20.435 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/cascaded_control
16:56:20.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position_settings
16:56:20.440 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position
16:56:20.446 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position_settings
16:56:20.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position
16:56:20.456 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position_settings
16:56:20.459 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position
16:56:20.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude_settings
16:56:20.467 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude
16:56:20.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude_settings
16:56:20.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude
16:56:20.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude_settings
16:56:20.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude
16:56:20.497 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity_settings
16:56:20.500 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity
16:56:20.505 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity_settings
16:56:20.508 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity
16:56:20.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity_settings
16:56:20.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity
16:56:20.523 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity_settings
16:56:20.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity
16:56:20.532 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity_settings
16:56:20.534 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity
16:56:20.540 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity_settings
16:56:20.543 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity
16:56:20.555 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223]})
16:56:20.555 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:56:20.556 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control
16:56:20.556 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
16:56:20.556 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
16:56:20.556 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
16:56:20.556 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 28810.941402959
16:56:20.763 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner
16:56:20.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
16:56:20.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
16:56:20.763 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler
16:56:20.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
16:56:20.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
16:56:20.763 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager
16:56:20.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false }
16:56:20.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'mock_task_manager' successfully started
16:56:20.763 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services
16:56:20.763 INFO  [peripherals/communication/src/lib.rs:75] grpc listening on 0.0.0.0:10820
16:56:20.763 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration
16:56:20.763 INFO  [peripherals/communication/src/discovery_node.rs:25] Node:scout_joris available on port 10899.
16:56:20.763 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator
16:56:20.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
16:56:20.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
16:56:20.791 INFO  [robot_core/launch/src/lib.rs:287] Waiting until code stops running so threads can be joined
16:56:20.791 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'state_estimator'
16:56:20.848 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
16:56:20.850 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 779.08Hz
16:56:23.037 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4776.58Hz
16:56:25.218 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2592.10Hz
16:56:27.348 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3565.69Hz
16:56:29.517 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4980.58Hz
16:56:31.648 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5793.37Hz
16:56:33.736 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5879.97Hz
16:56:35.870 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4148.91Hz
16:56:38.018 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5226.30Hz
16:56:40.226 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5647.52Hz
16:56:42.378 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3839.64Hz
16:56:44.611 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3413.30Hz
16:56:46.688 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8525.44Hz
16:56:49.334 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2465.16Hz
16:56:52.411 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2139.00Hz
16:56:54.694 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3353.53Hz
16:56:56.204 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:56:56.204 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:56:56.204 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'task_scheduler' stopped
16:56:56.204 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'path_planner' stopped
16:56:56.204 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:56:56.205 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:56:56.205 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:56:56.205 INFO  [utilities/simulator/src/simulator.rs:201] Simulator dropped: Simulator()
16:56:56.221 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'simulator' stopped
16:56:56.225 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'control' stopped
16:56:56.235 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'state_estimator' stopped
16:56:56.236 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'state_estimator'
16:56:56.236 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'control'
16:56:56.236 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'control'
16:56:56.236 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'path_planner'
16:56:56.236 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'path_planner'
16:56:56.236 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'task_scheduler'
16:56:56.236 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'task_scheduler'
16:56:56.236 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'mock_task_manager'
16:56:56.809 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "grpc_services", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:57:23.952 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
16:57:23.952 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-27 16:57:23.952838290 +01:00
16:57:23.952 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
16:57:23.952 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
16:57:23.953 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
16:57:23.953 DEBUG [utilities/logging/src/time_series_logger.rs:96] Creating logger to table: logs
16:57:23.957 DEBUG [utilities/common/src/modeling/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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073]})
16:57:23.957 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:57:23.958 INFO  [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
16:57:23.998 DEBUG [utilities/common/src/modeling/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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073]})
16:57:23.998 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:57:24.095 DEBUG [utilities/common/src/modeling/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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073]})
16:57:24.095 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:57:24.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: imu
16:57:24.358 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_waterlinked
16:57:24.363 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_bottom_track
16:57:24.370 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_water_track
16:57:24.373 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_current_profile
16:57:24.378 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_depth
16:57:24.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: magnetometer
16:57:24.385 WARN  [robot_core/launch/src/lib.rs:332] Magnetometer not enabled
16:57:24.385 WARN  [robot_core/launch/src/lib.rs:312] IMU not enabled
16:57:24.385 WARN  [robot_core/launch/src/lib.rs:349] Can Magnetometer not enabled
16:57:24.385 WARN  [robot_core/launch/src/lib.rs:367] Waterlinked DVL not enabled
16:57:24.385 WARN  [robot_core/launch/src/lib.rs:392] Nortek DVL not enabled
16:57:24.385 DEBUG [utilities/common/src/modeling/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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073]})
16:57:24.385 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:57:24.385 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: kinematic_state
16:57:24.388 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: environment_state
16:57:24.390 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: se_debug_stats
16:57:24.394 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator
16:57:24.394 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
16:57:24.394 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
16:57:24.394 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: thruster_manager
16:57:24.397 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
16:57:24.397 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/cascaded_control
16:57:24.400 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position_settings
16:57:24.404 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position
16:57:24.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position_settings
16:57:24.415 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position
16:57:24.422 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position_settings
16:57:24.426 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position
16:57:24.432 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude_settings
16:57:24.435 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude
16:57:24.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude_settings
16:57:24.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude
16:57:24.460 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude_settings
16:57:24.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude
16:57:24.470 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity_settings
16:57:24.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity
16:57:24.481 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity_settings
16:57:24.484 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity
16:57:24.492 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity_settings
16:57:24.495 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity
16:57:24.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity_settings
16:57:24.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity
16:57:24.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity_settings
16:57:24.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity
16:57:24.524 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity_settings
16:57:24.528 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity
16:57:24.535 DEBUG [utilities/common/src/modeling/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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073]})
16:57:24.535 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:57:24.535 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control
16:57:24.535 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
16:57:24.536 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
16:57:24.536 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
16:57:24.536 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 28874.921382592
16:57:24.880 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner
16:57:24.880 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
16:57:24.880 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
16:57:24.880 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler
16:57:24.880 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
16:57:24.880 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
16:57:24.880 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager
16:57:24.880 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false }
16:57:24.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'mock_task_manager' successfully started
16:57:24.881 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services
16:57:24.881 INFO  [peripherals/communication/src/lib.rs:75] grpc listening on 0.0.0.0:10820
16:57:24.881 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration
16:57:24.881 INFO  [peripherals/communication/src/discovery_node.rs:25] Node:scout_joris available on port 10899.
16:57:24.881 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator
16:57:24.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
16:57:24.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
16:57:24.924 INFO  [robot_core/launch/src/lib.rs:287] Waiting until code stops running so threads can be joined
16:57:24.924 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'state_estimator'
16:57:24.959 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
16:57:24.960 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1172.58Hz
16:57:27.612 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4207.53Hz
16:57:31.182 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4690.06Hz
16:57:33.569 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:57:33.569 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:57:33.569 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:57:33.569 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:57:33.570 INFO  [utilities/simulator/src/simulator.rs:201] Simulator dropped: Simulator()
16:57:33.570 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'task_scheduler' stopped
16:57:33.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'simulator' stopped
16:57:33.590 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'control' stopped
16:57:33.590 ERROR [robot_core/path_planning/src/lib.rs:226] Cannot reach control, stopping path planner...
16:57:33.590 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:57:33.590 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'path_planner' stopped
16:57:33.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'state_estimator' stopped
16:57:33.607 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'state_estimator'
16:57:33.607 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'control'
16:57:33.607 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'control'
16:57:33.607 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'path_planner'
16:57:33.607 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'path_planner'
16:57:33.607 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'task_scheduler'
16:57:33.607 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'task_scheduler'
16:57:33.607 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'mock_task_manager'
16:57:33.900 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "grpc_services", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
16:57:53.114 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
16:57:53.114 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-27 16:57:53.114214071 +01:00
16:57:53.114 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
16:57:53.114 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
16:57:53.114 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
16:57:53.114 DEBUG [utilities/logging/src/time_series_logger.rs:96] Creating logger to table: logs
16:57:53.118 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144]})
16:57:53.118 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:57:53.119 INFO  [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
16:57:53.145 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144]})
16:57:53.145 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:57:53.213 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144]})
16:57:53.213 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:57:53.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: imu
16:57:53.353 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_waterlinked
16:57:53.355 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_bottom_track
16:57:53.358 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_water_track
16:57:53.360 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_current_profile
16:57:53.363 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_depth
16:57:53.365 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: magnetometer
16:57:53.368 WARN  [robot_core/launch/src/lib.rs:332] Magnetometer not enabled
16:57:53.368 WARN  [robot_core/launch/src/lib.rs:312] IMU not enabled
16:57:53.368 WARN  [robot_core/launch/src/lib.rs:349] Can Magnetometer not enabled
16:57:53.368 WARN  [robot_core/launch/src/lib.rs:367] Waterlinked DVL not enabled
16:57:53.368 WARN  [robot_core/launch/src/lib.rs:392] Nortek DVL not enabled
16:57:53.368 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144]})
16:57:53.368 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:57:53.368 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: kinematic_state
16:57:53.370 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: environment_state
16:57:53.373 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: se_debug_stats
16:57:53.375 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator
16:57:53.375 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
16:57:53.375 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
16:57:53.376 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: thruster_manager
16:57:53.378 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
16:57:53.378 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/cascaded_control
16:57:53.380 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position_settings
16:57:53.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position
16:57:53.388 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position_settings
16:57:53.390 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position
16:57:53.396 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position_settings
16:57:53.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position
16:57:53.404 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude_settings
16:57:53.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude
16:57:53.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude_settings
16:57:53.413 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude
16:57:53.419 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude_settings
16:57:53.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude
16:57:53.428 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity_settings
16:57:53.432 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity
16:57:53.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity_settings
16:57:53.443 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity
16:57:53.451 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity_settings
16:57:53.458 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity
16:57:53.471 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity_settings
16:57:53.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity
16:57:53.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity_settings
16:57:53.495 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity
16:57:53.504 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity_settings
16:57:53.510 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity
16:57:53.519 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144]})
16:57:53.519 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
16:57:53.519 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control
16:57:53.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
16:57:53.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
16:57:53.519 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
16:57:53.519 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 28903.904806954
16:57:53.814 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner
16:57:53.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
16:57:53.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
16:57:53.814 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler
16:57:53.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
16:57:53.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
16:57:53.815 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager
16:57:53.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false }
16:57:53.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'mock_task_manager' successfully started
16:57:53.815 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services
16:57:53.815 INFO  [peripherals/communication/src/lib.rs:75] grpc listening on 0.0.0.0:10820
16:57:53.815 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration
16:57:53.816 INFO  [peripherals/communication/src/discovery_node.rs:25] Node:scout_joris available on port 10899.
16:57:53.816 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator
16:57:53.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
16:57:53.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
16:57:53.856 INFO  [robot_core/launch/src/lib.rs:287] Waiting until code stops running so threads can be joined
16:57:53.856 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'state_estimator'
16:57:53.911 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
16:57:53.912 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1009.32Hz
16:57:56.199 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2427.79Hz
16:57:58.382 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5052.50Hz
16:58:00.429 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5548.74Hz
16:58:02.611 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5944.31Hz
16:58:04.691 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5988.49Hz
16:58:06.855 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4572.24Hz
16:58:08.918 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5217.30Hz
16:58:10.978 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2782.54Hz
16:58:13.036 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5469.74Hz
16:58:14.840 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5875.99Hz
16:58:16.338 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4988.30Hz
16:58:17.826 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9363.03Hz
16:58:19.244 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5679.43Hz
16:58:20.856 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6157.14Hz
16:58:22.596 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5751.62Hz
16:58:24.453 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6987.97Hz
16:58:26.240 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4397.52Hz
16:58:27.986 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4269.54Hz
16:58:29.617 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7546.89Hz
16:58:31.443 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7294.42Hz
16:58:33.171 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7606.53Hz
16:58:34.898 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4883.98Hz
16:58:36.611 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4978.69Hz
16:58:38.338 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1898.80Hz
16:58:40.432 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6274.63Hz
16:58:42.229 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2270.47Hz
16:58:45.609 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8419.63Hz
16:58:48.674 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4798.51Hz
16:58:51.081 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3806.38Hz
16:58:53.254 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5020.86Hz
16:58:55.499 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5234.34Hz
16:58:57.714 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2826.66Hz
16:58:59.971 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4977.97Hz
16:59:02.832 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3761.59Hz
16:59:07.107 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1927.17Hz
16:59:10.219 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1143.02Hz
16:59:12.701 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4929.53Hz
16:59:15.524 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3788.65Hz
16:59:18.320 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4986.88Hz
16:59:20.679 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5267.48Hz
16:59:23.122 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5348.77Hz
16:59:26.290 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4193.73Hz
16:59:29.829 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1179.77Hz
16:59:33.347 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5454.17Hz
16:59:35.844 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5517.24Hz
16:59:38.738 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3885.00Hz
16:59:42.169 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1756.54Hz
16:59:45.448 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5878.38Hz
16:59:47.623 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3267.16Hz
16:59:50.211 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3909.21Hz
16:59:52.764 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4824.95Hz
16:59:55.105 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4358.55Hz
16:59:57.569 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3827.93Hz
17:00:00.341 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4827.07Hz
17:00:02.719 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5165.37Hz
17:00:05.000 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5096.81Hz
17:00:07.645 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3699.31Hz
17:00:09.590 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
17:00:09.591 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
17:00:09.591 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
17:00:09.591 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
17:00:09.591 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'task_scheduler' stopped
17:00:09.591 INFO  [utilities/simulator/src/simulator.rs:201] Simulator dropped: Simulator()
17:00:09.611 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'simulator' stopped
17:00:09.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'control' stopped
17:00:09.615 ERROR [robot_core/path_planning/src/lib.rs:226] Cannot reach control, stopping path planner...
17:00:09.615 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
17:00:09.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'path_planner' stopped
17:00:09.631 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'state_estimator' stopped
17:00:09.631 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'state_estimator'
17:00:09.631 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'control'
17:00:09.631 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'control'
17:00:09.631 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'path_planner'
17:00:09.631 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'path_planner'
17:00:09.631 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'task_scheduler'
17:00:09.631 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'task_scheduler'
17:00:09.631 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'mock_task_manager'
17:00:09.988 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "grpc_services", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
17:00:29.740 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
17:00:29.740 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-27 17:00:29.740804874 +01:00
17:00:29.740 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
17:00:29.740 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
17:00:29.740 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
17:00:29.740 DEBUG [utilities/logging/src/time_series_logger.rs:96] Creating logger to table: logs
17:00:29.745 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "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], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019]})
17:00:29.745 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
17:00:29.746 INFO  [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
17:00:29.781 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "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], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019]})
17:00:29.781 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
17:00:29.844 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "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], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019]})
17:00:29.844 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
17:00:30.023 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: imu
17:00:30.025 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_waterlinked
17:00:30.028 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_bottom_track
17:00:30.030 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_water_track
17:00:30.032 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_current_profile
17:00:30.034 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_depth
17:00:30.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: magnetometer
17:00:30.039 WARN  [robot_core/launch/src/lib.rs:332] Magnetometer not enabled
17:00:30.039 WARN  [robot_core/launch/src/lib.rs:312] IMU not enabled
17:00:30.039 WARN  [robot_core/launch/src/lib.rs:349] Can Magnetometer not enabled
17:00:30.039 WARN  [robot_core/launch/src/lib.rs:367] Waterlinked DVL not enabled
17:00:30.039 WARN  [robot_core/launch/src/lib.rs:392] Nortek DVL not enabled
17:00:30.039 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "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], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019]})
17:00:30.039 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
17:00:30.039 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: kinematic_state
17:00:30.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: environment_state
17:00:30.044 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: se_debug_stats
17:00:30.047 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator
17:00:30.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
17:00:30.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
17:00:30.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: thruster_manager
17:00:30.050 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
17:00:30.050 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/cascaded_control
17:00:30.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position_settings
17:00:30.054 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position
17:00:30.060 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position_settings
17:00:30.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position
17:00:30.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position_settings
17:00:30.071 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position
17:00:30.077 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude_settings
17:00:30.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude
17:00:30.086 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude_settings
17:00:30.088 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude
17:00:30.094 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude_settings
17:00:30.097 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude
17:00:30.103 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity_settings
17:00:30.106 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity
17:00:30.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity_settings
17:00:30.114 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity
17:00:30.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity_settings
17:00:30.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity
17:00:30.129 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity_settings
17:00:30.132 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity
17:00:30.138 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity_settings
17:00:30.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity
17:00:30.147 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity_settings
17:00:30.149 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity
17:00:30.155 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "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], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019]})
17:00:30.155 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
17:00:30.155 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control
17:00:30.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
17:00:30.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
17:00:30.155 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
17:00:30.155 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 29060.540487402
17:00:30.295 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner
17:00:30.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
17:00:30.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
17:00:30.295 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler
17:00:30.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
17:00:30.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
17:00:30.295 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager
17:00:30.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false }
17:00:30.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'mock_task_manager' successfully started
17:00:30.295 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services
17:00:30.295 INFO  [peripherals/communication/src/lib.rs:75] grpc listening on 0.0.0.0:10820
17:00:30.295 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration
17:00:30.295 INFO  [peripherals/communication/src/discovery_node.rs:25] Node:scout_joris available on port 10899.
17:00:30.295 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator
17:00:30.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
17:00:30.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
17:00:30.320 INFO  [robot_core/launch/src/lib.rs:287] Waiting until code stops running so threads can be joined
17:00:30.320 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'state_estimator'
17:00:30.346 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
17:00:30.346 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3354.12Hz
17:00:32.446 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 836.55Hz
17:00:34.718 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3723.33Hz
17:00:36.942 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3072.98Hz
17:00:39.153 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4630.21Hz
17:00:41.359 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2907.07Hz
17:00:43.526 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4993.36Hz
17:00:45.601 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5522.82Hz
17:00:47.718 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6099.38Hz
17:00:49.603 INFO  [utilities/logging/src/logger_manager.rs:131] Started logging to database 2025-02-27T17:00:49.603741052+01:00_task_executor
17:00:49.603 DEBUG [robot_core/path_planning/src/lib.rs:197] Received new goals: [Hold(3153600000.0 s^1)]
17:00:49.603 DEBUG [robot_core/path_planning/src/lib.rs:204] Cancelling goals: []
17:00:49.604 INFO  [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-27T17:00:49.603909138+01:00_/_rust.log"
17:00:49.604 DEBUG [robot_core/path_planning/src/lib.rs:215] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }]
17:00:49.605 DEBUG [robot_core/path_planning/src/lib.rs:128] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1))
17:00:49.605 DEBUG [robot_core/path_planning/src/lib.rs:197] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 80.78866417197221, y: 45.1097641153747 }, Coord { x: 80.78888582781524, y: 65.15147914919697 }, Coord { x: 60.79808638152686, y: 65.15174043078656 }, Coord { x: 60.797864724784674, y: 45.10994502227347 }, Coord { x: 80.78866417197221, y: 45.1097641153747 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })]
17:00:49.605 WARN  [robot_core/task_scheduler/src/tasks/mod.rs:232] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 80.78866417197221, y: 45.1097641153747 }, Coord { x: 80.78888582781524, y: 65.15147914919697 }, Coord { x: 60.79808638152686, y: 65.15174043078656 }, Coord { x: 60.797864724784674, y: 45.10994502227347 }, Coord { x: 80.78866417197221, y: 45.1097641153747 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: StartedGoal(Hold(3153600000.0 s^1))
17:00:49.605 DEBUG [robot_core/path_planning/src/lib.rs:204] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }]
17:00:49.605 DEBUG [robot_core/path_planning/src/lib.rs:128] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1))
17:00:49.605 WARN  [robot_core/task_scheduler/src/tasks/mod.rs:232] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 80.78866417197221, y: 45.1097641153747 }, Coord { x: 80.78888582781524, y: 65.15147914919697 }, Coord { x: 60.79808638152686, y: 65.15174043078656 }, Coord { x: 60.797864724784674, y: 45.10994502227347 }, Coord { x: 80.78866417197221, y: 45.1097641153747 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1))
17:00:49.605 DEBUG [robot_core/path_planning/src/lib.rs:215] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 80.78866417197221, y: 45.1097641153747 }, Coord { x: 80.78888582781524, y: 65.15147914919697 }, Coord { x: 60.79808638152686, y: 65.15174043078656 }, Coord { x: 60.797864724784674, y: 45.10994502227347 }, Coord { x: 80.78866417197221, y: 45.1097641153747 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (60.797864744939744 m^1, 46.1097641153747 m^1), end: (80.78868628529543 m^1, 46.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (80.78869731215471 m^1, 47.1097641153747 m^1), end: (60.79787577179903 m^1, 47.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (60.79788679865831 m^1, 48.1097641153747 m^1), end: (80.78870839861864 m^1, 48.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (80.78871942547792 m^1, 49.1097641153747 m^1), end: (60.79789788512224 m^1, 49.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (60.79790897158617 m^1, 50.1097641153747 m^1), end: (80.78873051194185 m^1, 50.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (80.78874153880113 m^1, 51.1097641153747 m^1), end: (60.79791999844545 m^1, 51.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (60.79793108490938 m^1, 52.1097641153747 m^1), end: (80.78875262526506 m^1, 52.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (80.78876371172899 m^1, 53.1097641153747 m^1), end: (60.79794211176866 m^1, 53.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (60.79795319823259 m^1, 54.1097641153747 m^1), end: (80.78877473858827 m^1, 54.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (80.7887858250522 m^1, 55.1097641153747 m^1), end: (60.797964225091874 m^1, 55.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (60.7979753115558 m^1, 56.1097641153747 m^1), end: (80.78879685191148 m^1, 56.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (80.78880793837541 m^1, 57.1097641153747 m^1), end: (60.797986338415086 m^1, 57.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (60.797997424879014 m^1, 58.1097641153747 m^1), end: (80.7888189652347 m^1, 58.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (80.78883005169862 m^1, 59.1097641153747 m^1), end: (60.7980084517383 m^1, 59.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (60.798019538202226 m^1, 60.1097641153747 m^1), end: (80.78884113816255 m^1, 60.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (80.78885216502184 m^1, 61.1097641153747 m^1), end: (60.79803056506151 m^1, 61.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (60.79804165152544 m^1, 62.1097641153747 m^1), end: (80.78886325148576 m^1, 62.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (80.78887427834505 m^1, 63.1097641153747 m^1), end: (60.79805267838472 m^1, 63.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (60.79806376484865 m^1, 64.1097641153747 m^1), end: (80.78888536480898 m^1, 64.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (80.78888584164613 m^1, 65.1097641153747 m^1), end: (60.79807479170793 m^1, 65.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (60.79808587817186 m^1, 66.1097641153747 m^1), end: (80.78888584164613 m^1, 66.1097641153747 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }]
17:00:49.606 DEBUG [robot_core/path_planning/src/lib.rs:128] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 80.78866417197221, y: 45.1097641153747 }, Coord { x: 80.78888582781524, y: 65.15147914919697 }, Coord { x: 60.79808638152686, y: 65.15174043078656 }, Coord { x: 60.797864724784674, y: 45.10994502227347 }, Coord { x: 80.78866417197221, y: 45.1097641153747 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }))
17:00:49.606 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.09383226264402904, Enable control depth: 0.2, Depth control enabled: true
17:00:49.606 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
17:00:49.606 INFO  [robot_core/control/src/cascaded_control.rs:354] Disabling depth control.
17:00:49.607 INFO  [robot_core/control/src/cascaded_control.rs:317] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.09383226264402904 }
17:00:49.681 DEBUG [robot_core/control/src/cascaded_control.rs:359] Details: Current depth: 0.2022631742133792, Enable control depth: 0.2, Depth control enabled: false
17:00:49.681 DEBUG [robot_core/control/src/cascaded_control.rs:156] Depth control enabled: reset vertical velocity controller
17:00:49.681 INFO  [robot_core/control/src/cascaded_control.rs:358] Enabling depth control. 
17:00:49.735 DEBUG [robot_core/control/src/cascaded_control.rs:192] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
17:00:49.940 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4679.35Hz
17:00:54.443 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2296.93Hz
17:00:59.516 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2756.33Hz
17:01:04.446 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3474.25Hz
17:01:05.522 INFO  [utilities/logging/src/logger_manager.rs:146] Stopped logging
17:01:05.522 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
17:01:05.522 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'task_scheduler' stopped
17:01:05.522 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
17:01:05.522 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
17:01:05.522 INFO  [utilities/simulator/src/simulator.rs:201] Simulator dropped: Simulator()
17:01:05.522 INFO  [robot_core/task_scheduler/src/executor.rs:346] Stopping logging to database '2025-02-27T17:00:49.603741052+01:00_task_executor'
17:01:05.523 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
17:01:05.538 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'simulator' stopped
17:01:05.561 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'state_estimator' stopped
17:01:05.561 INFO  [robot_core/launch/src/lib.rs:301] Joined thread 'state_estimator'
17:01:05.561 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'control'
17:01:06.070 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'control' stopped
17:01:06.070 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
17:48:45.036 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
17:48:45.036 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-27 17:48:45.036807184 +01:00
17:48:45.036 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
17:48:45.036 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-27/2025-02-27_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/2025-02-27/2025-02-27_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
17:48:45.036 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
17:48:45.036 DEBUG [utilities/logging/src/time_series_logger.rs:96] Creating logger to table: logs
17:48:45.040 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223]})
17:48:45.040 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
17:48:45.041 INFO  [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
17:48:45.067 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223]})
17:48:45.067 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
17:48:45.150 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223]})
17:48:45.150 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
17:48:45.298 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: imu
17:48:45.302 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_waterlinked
17:48:45.304 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_bottom_track
17:48:45.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_water_track
17:48:45.309 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_current_profile
17:48:45.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: dvl_depth
17:48:45.315 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: magnetometer
17:48:45.317 WARN  [robot_core/launch/src/lib.rs:332] Magnetometer not enabled
17:48:45.317 WARN  [robot_core/launch/src/lib.rs:312] IMU not enabled
17:48:45.317 WARN  [robot_core/launch/src/lib.rs:349] Can Magnetometer not enabled
17:48:45.317 WARN  [robot_core/launch/src/lib.rs:367] Waterlinked DVL not enabled
17:48:45.317 WARN  [robot_core/launch/src/lib.rs:392] Nortek DVL not enabled
17:48:45.317 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223]})
17:48:45.317 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
17:48:45.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: kinematic_state
17:48:45.320 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: environment_state
17:48:45.322 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: se_debug_stats
17:48:45.324 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator
17:48:45.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
17:48:45.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
17:48:45.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: thruster_manager
17:48:45.327 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
17:48:45.327 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/cascaded_control
17:48:45.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position_settings
17:48:45.333 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_position
17:48:45.339 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position_settings
17:48:45.342 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_position
17:48:45.348 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position_settings
17:48:45.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_position
17:48:45.357 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude_settings
17:48:45.359 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_attitude
17:48:45.365 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude_settings
17:48:45.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_attitude
17:48:45.372 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude_settings
17:48:45.375 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_attitude
17:48:45.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity_settings
17:48:45.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_velocity
17:48:45.389 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity_settings
17:48:45.391 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_velocity
17:48:45.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity_settings
17:48:45.401 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_velocity
17:48:45.412 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity_settings
17:48:45.415 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/x_angular_velocity
17:48:45.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity_settings
17:48:45.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/y_angular_velocity
17:48:45.429 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity_settings
17:48:45.431 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:96] Creating logger to table: control/pid/z_angular_velocity
17:48:45.437 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223]})
17:48:45.437 DEBUG [utilities/common/src/modeling/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 })
17:48:45.437 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control
17:48:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
17:48:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
17:48:45.437 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
17:48:45.437 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 31955.822533347
17:48:45.550 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner
17:48:45.550 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
17:48:45.550 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
17:48:45.551 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler
17:48:45.551 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
17:48:45.551 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
17:48:45.551 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager
17:48:45.551 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false }
17:48:45.551 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'mock_task_manager' successfully started
17:48:45.551 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services
17:48:45.551 INFO  [peripherals/communication/src/lib.rs:75] grpc listening on 0.0.0.0:10820
17:48:45.551 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration
17:48:45.551 INFO  [peripherals/communication/src/discovery_node.rs:25] Node:scout_joris available on port 10899.
17:48:45.551 DEBUG [utilities/common/src/utils/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator
17:48:45.551 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
17:48:45.551 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
17:48:45.589 INFO  [robot_core/launch/src/lib.rs:287] Waiting until code stops running so threads can be joined
17:48:45.589 INFO  [robot_core/launch/src/lib.rs:297] Trying to join thread 'state_estimator'
17:48:45.665 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
17:48:45.665 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2589.33Hz
17:48:47.787 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4986.09Hz
17:48:49.931 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 632.19Hz
17:48:52.143 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4646.49Hz
17:48:54.366 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4998.03Hz
17:48:56.584 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1601.09Hz
17:48:58.773 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4805.77Hz
17:49:00.320 INFO  [utilities/logging/src/logger_manager.rs:131] Started logging to database 2025-02-27T17:49:00.320222309+01:00_task_executor
17:49:00.320 DEBUG [robot_core/path_planning/src/lib.rs:197] Received new goals: [Hold(3153600000.0 s^1)]
17:49:00.320 DEBUG [robot_core/path_planning/src/lib.rs:204] Cancelling goals: []
17:49:00.320 DEBUG [robot_core/path_planning/src/lib.rs:215] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }]
17:49:00.321 INFO  [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-27T17:49:00.320480510+01:00_/_rust.log"
17:49:00.322 DEBUG [robot_core/path_planning/src/lib.rs:128] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1))
17:49:00.322 DEBUG [robot_core/path_planning/src/lib.rs:197] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 12.679891232437301, y: 18.962298833539837 }, Coord { x: 12.68000775914443, y: 39.00401317147923 }, Coord { x: -7.310789599986403, y: 39.00416958859366 }, Coord { x: -7.310906126961873, y: 18.962374877717533 }, Coord { x: 12.679891232437301, y: 18.962298833539837 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })]
17:49:00.322 DEBUG [robot_core/path_planning/src/lib.rs:204] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }]
17:49:00.322 WARN  [robot_core/task_scheduler/src/tasks/mod.rs:234] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 12.679891232437301, y: 18.962298833539837 }, Coord { x: 12.68000775914443, y: 39.00401317147923 }, Coord { x: -7.310789599986403, y: 39.00416958859366 }, Coord { x: -7.310906126961873, y: 18.962374877717533 }, Coord { x: 12.679891232437301, y: 18.962298833539837 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: StartedGoal(Hold(3153600000.0 s^1))
17:49:00.322 DEBUG [robot_core/path_planning/src/lib.rs:128] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1))
17:49:00.322 WARN  [robot_core/task_scheduler/src/tasks/mod.rs:234] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 12.679891232437301, y: 18.962298833539837 }, Coord { x: 12.68000775914443, y: 39.00401317147923 }, Coord { x: -7.310789599986403, y: 39.00416958859366 }, Coord { x: -7.310906126961873, y: 18.962374877717533 }, Coord { x: 12.679891232437301, y: 18.962298833539837 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1))
17:49:00.323 DEBUG [robot_core/path_planning/src/lib.rs:215] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 12.679891232437301, y: 18.962298833539837 }, Coord { x: 12.68000775914443, y: 39.00401317147923 }, Coord { x: -7.310789599986403, y: 39.00416958859366 }, Coord { x: -7.310906126961873, y: 18.962374877717533 }, Coord { x: 12.679891232437301, y: 18.962298833539837 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (-7.310906108432603 m^1, 19.962298833539837 m^1), end: (12.679902855343032 m^1, 19.962298833539837 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.679908636993575 m^1, 20.962298833539837 m^1), end: (-7.310900326782059 m^1, 20.962298833539837 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.310894485526871 m^1, 21.962298833539837 m^1), end: (12.679914478248763 m^1, 21.962298833539837 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.679920259899307 m^1, 22.962298833539837 m^1), end: (-7.310888703876328 m^1, 22.962298833539837 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.31088286262114 m^1, 23.962298833539837 m^1), end: (12.679926101154495 m^1, 23.962298833539837 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.679931882805038 m^1, 24.962298833539837 m^1), end: (-7.310877080970597 m^1, 24.962298833539837 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.310871239715409 m^1, 25.962298833539837 m^1), end: (12.679937724060226 m^1, 25.962298833539837 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.679943505710769 m^1, 26.962298833539837 m^1), end: (-7.310865458064866 m^1, 26.962298833539837 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.310859616809678 m^1, 27.962298833539837 m^1), end: (12.679949346965957 m^1, 27.962298833539837 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.679955188221145 m^1, 28.962298833539837 m^1), end: (-7.310853835159135 m^1, 28.962298833539837 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.310847993903947 m^1, 29.962298833539837 m^1), end: (12.679960969871688 m^1, 29.962298833539837 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.679966811126876 m^1, 30.962298833539837 m^1), end: (-7.310842152648759 m^1, 30.962298833539837 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.310836370998215 m^1, 31.962298833539837 m^1), end: (12.67997259277742 m^1, 31.962298833539837 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.679978434032607 m^1, 32.96229883353983 m^1), end: (-7.310830529743027 m^1, 32.96229883353983 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.310824748092484 m^1, 33.96229883353983 m^1), end: (12.67998421568315 m^1, 33.96229883353983 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.679990056938339 m^1, 34.96229883353983 m^1), end: (-7.310818906837296 m^1, 34.96229883353983 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.310813125186753 m^1, 35.96229883353983 m^1), end: (12.679995838588882 m^1, 35.96229883353983 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.68000167984407 m^1, 36.96229883353983 m^1), end: (-7.310807283931565 m^1, 36.96229883353983 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.310801502281022 m^1, 37.96229883353983 m^1), end: (12.680007461494613 m^1, 37.96229883353983 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.680007759517837 m^1, 38.96229883353983 m^1), end: (-7.310795661025834 m^1, 38.96229883353983 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.310789879375291 m^1, 39.96229883353983 m^1), end: (12.680007759517837 m^1, 39.96229883353983 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }]
17:49:00.324 DEBUG [robot_core/path_planning/src/lib.rs:128] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 12.679891232437301, y: 18.962298833539837 }, Coord { x: 12.68000775914443, y: 39.00401317147923 }, Coord { x: -7.310789599986403, y: 39.00416958859366 }, Coord { x: -7.310906126961873, y: 18.962374877717533 }, Coord { x: 12.679891232437301, y: 18.962298833539837 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }))
17:49:00.325 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.09383226382935053, Enable control depth: 0.2, Depth control enabled: true
17:49:00.325 INFO  [robot_core/control/src/cascaded_control.rs:354] Disabling depth control.
17:49:00.325 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
17:49:00.325 INFO  [robot_core/control/src/cascaded_control.rs:317] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.09383226382935053 }
17:49:00.426 DEBUG [robot_core/control/src/cascaded_control.rs:156] Depth control enabled: reset vertical velocity controller
17:49:00.426 DEBUG [robot_core/control/src/cascaded_control.rs:359] Details: Current depth: 0.2103134948491253, Enable control depth: 0.2, Depth control enabled: false
17:49:00.426 INFO  [robot_core/control/src/cascaded_control.rs:358] Enabling depth control. 
17:49:00.454 DEBUG [robot_core/control/src/cascaded_control.rs:192] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
17:49:01.424 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1356.48Hz
17:49:07.001 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1986.34Hz
17:49:12.316 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2174.66Hz
17:49:17.151 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1909.71Hz
17:49:22.112 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2343.16Hz
17:49:26.713 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1892.20Hz
17:49:32.090 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3310.03Hz
17:49:36.920 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2145.44Hz
17:49:41.741 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1599.22Hz
17:49:42.189 DEBUG [robot_core/path_planning/src/lib.rs:128] Sending path planner update: FinishedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 12.679891232437301, y: 18.962298833539837 }, Coord { x: 12.68000775914443, y: 39.00401317147923 }, Coord { x: -7.310789599986403, y: 39.00416958859366 }, Coord { x: -7.310906126961873, y: 18.962374877717533 }, Coord { x: 12.679891232437301, y: 18.962298833539837 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }))
17:49:42.189 WARN  [peripherals/payload/src/lib.rs:59] Payload session was dropped without being stopped, stopping it now
17:49:42.189 DEBUG [robot_core/path_planning/src/lib.rs:197] Received new goals: [Hold(3153600000.0 s^1)]
17:49:42.190 DEBUG [robot_core/path_planning/src/lib.rs:204] Cancelling goals: []
17:49:42.190 DEBUG [robot_core/path_planning/src/lib.rs:215] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }]
17:49:42.192 DEBUG [robot_core/path_planning/src/lib.rs:128] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1))
17:49:42.194 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters
17:49:42.195 INFO  [robot_core/control/src/cascaded_control.rs:326] Control Manager has stopped
17:49:42.198 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
17:49:42.198 INFO  [robot_core/control/src/cascaded_control.rs:317] Control Manager has started with goal position: Vec3 { x: 12.62475343007461, y: 39.962312125541615, z: 19.036267594870484 }
17:49:47.205 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1566.53Hz
17:49:52.624 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2069.69Hz
17:49:58.370 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1941.30Hz
17:50:04.396 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1823.95Hz
17:50:09.805 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1812.96Hz
17:50:14.881 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1290.99Hz
17:50:19.412 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1946.29Hz
17:50:23.875 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2197.79Hz
17:50:28.576 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1371.80Hz
17:50:33.803 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2792.00Hz
17:50:39.781 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2314.35Hz
17:50:46.359 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1125.87Hz
17:50:54.574 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1653.42Hz
17:50:59.535 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1759.25Hz
17:51:04.787 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1532.31Hz
17:51:10.134 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2105.72Hz
17:51:15.498 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2159.28Hz
17:51:20.939 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1685.87Hz
17:51:26.037 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2147.84Hz
17:51:31.525 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1952.34Hz
17:51:36.715 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2164.33Hz
17:51:42.117 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2052.72Hz
17:51:47.495 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2596.58Hz
17:51:52.698 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1321.34Hz
17:51:57.710 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1148.37Hz
17:52:02.565 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2762.71Hz
17:52:07.740 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1128.81Hz
17:52:12.706 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2353.00Hz
17:52:17.787 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2052.42Hz
17:52:22.587 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2292.51Hz
17:52:27.682 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1059.39Hz
17:52:32.792 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1558.40Hz
17:52:37.555 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2514.93Hz
17:52:42.399 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1642.18Hz
17:52:45.058 INFO  [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-27T17:52:45.055653284+01:00_/_rust.log"
17:52:45.059 DEBUG [robot_core/path_planning/src/lib.rs:197] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 37.66938555610858, y: 57.68213570489479 }, Coord { x: 37.6696577572942, y: 77.72385029636973 }, Coord { x: 17.67885963372394, y: 77.72416199349017 }, Coord { x: 17.678587431572705, y: 57.68236702842715 }, Coord { x: 37.66938555610858, y: 57.68213570489479 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })]
17:52:45.059 DEBUG [robot_core/path_planning/src/lib.rs:204] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }]
17:52:45.059 DEBUG [robot_core/path_planning/src/lib.rs:128] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1))
17:52:45.059 WARN  [robot_core/task_scheduler/src/tasks/mod.rs:234] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 37.66938555610858, y: 57.68213570489479 }, Coord { x: 37.6696577572942, y: 77.72385029636973 }, Coord { x: 17.67885963372394, y: 77.72416199349017 }, Coord { x: 17.678587431572705, y: 57.68236702842715 }, Coord { x: 37.66938555610858, y: 57.68213570489479 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1))
17:52:45.060 DEBUG [robot_core/path_planning/src/lib.rs:215] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 37.66938555610858, y: 57.68213570489479 }, Coord { x: 37.6696577572942, y: 77.72385029636973 }, Coord { x: 17.67885963372394, y: 77.72416199349017 }, Coord { x: 17.678587431572705, y: 57.68236702842715 }, Coord { x: 37.66938555610858, y: 57.68213570489479 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (17.678587440378294 m^1, 58.68213570489479 m^1), end: (37.66941267622195 m^1, 58.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.66942626608096 m^1, 59.68213570489479 m^1), end: (17.678600970632658 m^1, 59.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.678614560491667 m^1, 60.68213570489479 m^1), end: (37.66943985593997 m^1, 60.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.66945344579898 m^1, 61.68213570489479 m^1), end: (17.678628150350676 m^1, 61.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.678641740209684 m^1, 62.68213570489479 m^1), end: (37.66946703565799 m^1, 62.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.669480625517 m^1, 63.68213570489479 m^1), end: (17.678655330068693 m^1, 63.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.678668919927702 m^1, 64.68213570489479 m^1), end: (37.66949415577136 m^1, 64.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.66950774563037 m^1, 65.68213570489479 m^1), end: (17.67868250978671 m^1, 65.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.678696040041075 m^1, 66.68213570489479 m^1), end: (37.66952133548938 m^1, 66.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.66953492534839 m^1, 67.68213570489479 m^1), end: (17.678709629900084 m^1, 67.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.678723219759092 m^1, 68.68213570489479 m^1), end: (37.669548515207396 m^1, 68.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.669562105066404 m^1, 69.68213570489479 m^1), end: (17.6787368096181 m^1, 69.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.67875039947711 m^1, 70.68213570489479 m^1), end: (37.66957569492541 m^1, 70.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.66958928478442 m^1, 71.68213570489479 m^1), end: (17.67876398933612 m^1, 71.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.678777579195128 m^1, 72.68213570489479 m^1), end: (37.669602815038786 m^1, 72.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.669616404897795 m^1, 73.68213570489479 m^1), end: (17.678791169054136 m^1, 73.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.6788046993085 m^1, 74.68213570489479 m^1), end: (37.669629994756804 m^1, 74.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.66964358461581 m^1, 75.68213570489479 m^1), end: (17.67881828916751 m^1, 75.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.678831879026518 m^1, 76.68213570489479 m^1), end: (37.66965717447482 m^1, 76.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.66965777052127 m^1, 77.68213570489479 m^1), end: (17.678845468885527 m^1, 77.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.678859058744536 m^1, 78.68213570489479 m^1), end: (37.66965777052127 m^1, 78.68213570489479 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }]
17:52:45.062 DEBUG [robot_core/path_planning/src/lib.rs:128] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 37.66938555610858, y: 57.68213570489479 }, Coord { x: 37.6696577572942, y: 77.72385029636973 }, Coord { x: 17.67885963372394, y: 77.72416199349017 }, Coord { x: 17.678587431572705, y: 57.68236702842715 }, Coord { x: 37.66938555610858, y: 57.68213570489479 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }))
17:52:47.742 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1864.42Hz
17:52:53.957 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 959.34Hz
17:52:59.666 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2369.11Hz
17:53:05.242 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1068.56Hz
17:53:10.989 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1653.28Hz
17:53:17.963 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 997.07Hz
17:53:24.832 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1634.49Hz
17:53:30.414 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1742.80Hz
17:53:34.835 DEBUG [robot_core/path_planning/src/lib.rs:128] Sending path planner update: FinishedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 37.66938555610858, y: 57.68213570489479 }, Coord { x: 37.6696577572942, y: 77.72385029636973 }, Coord { x: 17.67885963372394, y: 77.72416199349017 }, Coord { x: 17.678587431572705, y: 57.68236702842715 }, Coord { x: 37.66938555610858, y: 57.68213570489479 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }))
17:53:34.835 WARN  [peripherals/payload/src/lib.rs:59] Payload session was dropped without being stopped, stopping it now
17:53:34.835 DEBUG [robot_core/path_planning/src/lib.rs:197] Received new goals: [Hold(3153600000.0 s^1)]
17:53:34.836 DEBUG [robot_core/path_planning/src/lib.rs:204] Cancelling goals: []
17:53:34.836 DEBUG [robot_core/path_planning/src/lib.rs:215] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }]
17:53:34.837 DEBUG [robot_core/path_planning/src/lib.rs:128] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1))
17:53:34.840 INFO  [robot_core/control/src/cascaded_control.rs:326] Control Manager has stopped
17:53:34.840 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters
17:53:34.843 INFO  [robot_core/control/src/cascaded_control.rs:317] Control Manager has started with goal position: Vec3 { x: 37.62529896986607, y: 78.68221812982182, z: 19.03101343015634 }
17:53:34.843 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
17:53:36.182 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1462.20Hz
17:53:41.263 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2720.74Hz
17:53:47.592 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1062.32Hz
17:53:52.982 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1658.93Hz
17:53:58.427 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2057.02Hz
17:54:03.926 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2160.49Hz
17:54:09.905 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2077.75Hz
17:54:15.458 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2397.77Hz
17:54:20.626 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2067.29Hz
17:54:26.992 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1987.49Hz
17:54:32.326 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1724.06Hz
17:54:37.460 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1940.99Hz
17:54:42.196 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1821.01Hz
17:54:46.950 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2050.54Hz
17:54:51.911 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1886.18Hz
17:54:58.534 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1910.26Hz
17:55:03.775 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2102.97Hz
17:55:09.167 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1854.15Hz
17:55:14.661 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 508.59Hz
17:55:21.189 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1928.39Hz
17:55:26.938 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1974.04Hz
17:55:31.965 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2046.39Hz
17:55:37.282 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2706.25Hz
17:55:43.141 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2127.31Hz
17:55:49.111 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2478.73Hz
17:55:54.739 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1754.03Hz
17:56:02.219 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1305.68Hz
17:56:13.740 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2534.17Hz
17:56:20.355 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1288.87Hz
17:56:26.514 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2248.39Hz
17:56:32.217 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2464.03Hz
17:56:37.375 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2361.46Hz
17:56:44.333 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1601.37Hz
17:56:50.222 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2519.57Hz
17:56:54.927 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3460.63Hz
17:56:59.758 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2803.12Hz
17:57:04.485 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2127.33Hz
17:57:09.380 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1931.42Hz
17:57:14.295 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3425.55Hz
17:57:18.962 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2127.07Hz
17:57:23.733 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2013.30Hz
17:57:29.184 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2255.10Hz
17:57:31.861 INFO  [utilities/logging/src/logger_manager.rs:146] Stopped logging
17:57:31.861 INFO  [robot_core/task_scheduler/src/executor.rs:347] Stopping logging to database '2025-02-27T17:49:00.320222309+01:00_task_executor'
17:57:34.477 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1934.38Hz
17:57:35.820 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
17:57:35.820 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
17:57:35.821 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
17:57:35.821 DEBUG [utilities/common/src/utils/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
17:57:35.821 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'task_scheduler' stopped
17:57:35.822 INFO  [utilities/simulator/src/simulator.rs:201] Simulator dropped: Simulator()
17:57:35.840 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'simulator' stopped
17:57:35.940 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'control' stopped
17:57:35.941 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