11:13:12.987 INFO [robot_code/utilities/logging/src/logging.rs:133] ================================================================================ 11:13:12.987 INFO [robot_code/utilities/logging/src/logging.rs:134] Starting new Rust log session at 2025-08-14 11:13:12.987131176 +02:00 11:13:12.987 INFO [robot_code/utilities/logging/src/logging.rs:135] ================================================================================ 11:13:12.987 DEBUG [robot_code/utilities/logging/src/logging.rs:136] 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_settings": 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_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_usbl_driver": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Trace, 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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 11:13:12.987 INFO [robot_code/utilities/logging/src/logging.rs:139] Logging to "/home/joris/Desktop/data_root" 11:13:12.987 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-13-12_simulated_scout.lobsterlog") 11:13:12.993 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 11:13:13.149 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "dvl_location": [1.3305, 0.0, 0.0176], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 11:13:13.149 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:13:13.150 INFO [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, scout_model: Scout3, sea_floor_depth: 10.0, 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] } 11:13:13.487 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "dvl_location": [1.3305, 0.0, 0.0176], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 11:13:13.487 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:13:14.476 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "dvl_location": [1.3305, 0.0, 0.0176], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 11:13:14.476 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:13:14.477 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 11:13:14.477 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 11:13:14.478 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 11:13:14.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 11:13:14.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 11:13:14.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 11:13:14.480 WARN [robot_code/robot_core/launch/src/lib.rs:439] IMU not enabled 11:13:14.480 WARN [robot_code/robot_core/launch/src/lib.rs:449] Magnetometer not enabled 11:13:14.480 WARN [robot_code/robot_core/launch/src/lib.rs:494] Nortek DVL not enabled 11:13:14.480 WARN [robot_code/robot_core/launch/src/lib.rs:475] GPS not enabled 11:13:14.480 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "dvl_location": [1.3305, 0.0, 0.0176], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 11:13:14.480 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:13:14.480 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 11:13:14.481 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 11:13:14.481 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 11:13:14.483 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 11:13:14.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 11:13:14.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 11:13:14.484 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 38667 11:13:14.485 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 11:13:14.487 DEBUG [robot_code/peripherals/actuation/src/lib.rs:187] Started simulated thruster module 11:13:14.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 11:13:14.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 11:13:14.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 11:13:14.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 11:13:14.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 11:13:14.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 11:13:14.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 11:13:14.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 11:13:14.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 11:13:14.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 11:13:14.492 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 11:13:14.493 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 11:13:14.493 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 11:13:14.493 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 11:13:14.498 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 11:13:14.499 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 11:13:14.501 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 11:13:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 11:13:14.508 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 11:13:14.510 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 11:13:14.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 11:13:14.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 11:13:14.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 11:13:14.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 11:13:14.524 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 11:13:14.528 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 11:13:14.529 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 11:13:14.530 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "dvl_location": [1.3305, 0.0, 0.0176], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 11:13:14.530 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:13:14.530 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 11:13:14.530 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 11:13:14.530 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 11:13:14.533 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 38696 11:13:14.533 INFO [robot_code/robot_core/control/src/control_safety.rs:101] Control starting... 11:13:14.533 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Starting at 0.02 11:13:14.535 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 11:13:14.535 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 11:13:14.535 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 11:13:14.537 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 38697 11:13:14.565 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 11:13:14.837 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 11:13:14.838 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 11:13:14.838 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 11:13:14.838 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 11:13:14.838 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 38699 11:13:14.839 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 11:13:14.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 689.10Hz 11:13:14.846 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 11:13:14.846 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 11:13:14.847 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 38701 11:13:14.847 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 11:13:14.847 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 11:13:14.850 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 11:13:14.850 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 11:13:14.850 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 11:13:14.850 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 11:13:14.850 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 11:13:14.850 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 11:13:14.850 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 11:13:14.851 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 11:13:14.852 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 11:13:14.852 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 11:13:14.852 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 11:13:14.852 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 38739 11:13:14.852 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 11:13:14.852 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 38743 11:13:14.852 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 11:13:14.852 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 11:13:14.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 11:13:14.853 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 11:13:14.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 11:13:14.853 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 11:13:14.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 11:13:14.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 38745 11:13:14.853 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:13:14.855 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 11:13:14.856 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 38744 11:13:14.862 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 11:13:14.862 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 11:13:14.864 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 11:13:14.864 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 11:13:14.864 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 11:13:14.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 38748 11:13:14.865 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 11:13:14.865 INFO [robot_code/robot_core/launch/src/lib.rs:418] Waiting until code stops running so threads can be joined 11:13:14.865 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'state_estimator' 11:13:14.868 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 11:13:14.932 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:13:14.933 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:13:14.933 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:13:19.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 4353.37Hz 11:13:20.392 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:13:20.392 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:13:20.401 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:13:24.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 6397.09Hz 11:13:26.683 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:13:26.683 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: AddTask(SurveyArea: 'surveyArea') 11:13:29.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1359.06Hz 11:13:30.419 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:13:30.419 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: AddTask(SurveyArea: 'surveyArea') 11:13:33.933 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: Engage 11:13:33.933 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 11:13:33.934 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 11:13:33.934 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:13:33.934 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [DirectControl(ControlGoalWithMeta { id: df581e40-e78c-40a6-8e44-17070f4891c0, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:13:33.934 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: df581e40-e78c-40a6-8e44-17070f4891c0, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:13:33.934 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: df581e40-e78c-40a6-8e44-17070f4891c0, start_time: Some(1653.8 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started) 11:13:33.934 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:13:33.935 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SimpleGoal, name: 'Upright task', id: 6848e918-60f5-43e1-b69d-7eb113d13ab7)"), mode: None } 11:13:33.935 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-13-33_Upright task/2025-08-14_11-13-33_Upright task_rust.log" 11:13:33.935 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-13-33_Upright task 11:13:33.936 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849564209024252, Enable control depth: 0.2, Depth control enabled: true 11:13:33.936 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:13:33.936 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: df581e40-e78c-40a6-8e44-17070f4891c0, start_time: Some(1653.8 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished) 11:13:33.936 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:13:33.937 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09849564209024252 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:13:33.937 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: df581e40-e78c-40a6-8e44-17070f4891c0, start_time: Some(1653.8 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }) 11:13:33.939 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:13:33.939 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:13:33.939 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 }))] 11:13:33.939 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 }))] 11:13:33.939 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })), Started) 11:13:33.939 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:13:33.939 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: MoveTo, name: 'move to start of 'surveyArea'', id: e77d5f23-3a4f-4ff5-be4f-6bc0d68715c5)"), mode: None } 11:13:33.940 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 } 11:13:33.940 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-13-33_Upright task") 11:13:33.940 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-13-33_move to start of \'surveyArea\'/2025-08-14_11-13-33_move to start of \'surveyArea\'_rust.log" 11:13:33.940 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-13-33_move to start of 'surveyArea' 11:13:33.940 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:553] Starting task 'move to start of 'surveyArea'', to prepare for SurveyArea task 'surveyArea' 11:13:33.940 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09827637570943487, Enable control depth: 0.2, Depth control enabled: true 11:13:33.940 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:13:33.941 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }), hold_duration: None } }] 11:13:33.941 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 11:13:33.941 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -2.2177927065585417 m^1, east: -10.957257369564953 m^1, down: 0.09827637570943487 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } } 11:13:33.941 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:13:33.943 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:33.943 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 }) 11:13:33.979 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.2043590541354252, Enable control depth: 0.2, Depth control enabled: false 11:13:33.980 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:13:34.026 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 11:13:34.094 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:13:34.094 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:34.095 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:34.095 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 }) 11:13:34.147 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:34.147 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:34.195 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:34.195 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:34.245 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:34.245 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:34.301 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:34.304 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:34.364 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:34.365 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:34.418 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:34.419 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:34.478 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 11:13:34.479 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:34.479 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), max_velocity: 1.0 m^1 s^-1 }) 11:13:34.480 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SurveyArea task 'surveyArea' 11:13:34.480 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:13:34.480 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:13:34.481 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:13:34.481 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:13:34.481 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started) 11:13:34.482 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:13:34.482 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 4dbafdb8-dfdd-4524-831a-5da24436cf2c)"), mode: None } 11:13:34.482 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-13-33_move to start of 'surveyArea'") 11:13:34.483 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-13-34_surveyArea/2025-08-14_11-13-34_surveyArea_rust.log" 11:13:34.483 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-13-34_surveyArea 11:13:34.486 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:13:34.487 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.02526259290475703 m^1, east: 0.12500117732030985 m^1, down: 1.107413604290407 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } } 11:13:34.487 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.107395949205398 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 5.097655866952125 m^1, east: 4.250516829544202 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 5.097655866952125 m^1, east: 4.250516829544202 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }), target_velocity: 0.4 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:13:34.487 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:13:34.487 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing) 11:13:34.488 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:34.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2056.77Hz 11:13:35.474 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.097655866952125 m^1, east: 4.250516829544202 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, end: PositionNE { north: -5.097650791792688 m^1, east: 4.250516829544202 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.097650791792688 m^1, east: 3.3903811349904807 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, end: PositionNE { north: 5.097655866952125 m^1, east: 3.3903811349904807 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.097655866952125 m^1, east: 2.530245440436759 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, end: PositionNE { north: -5.097650791792688 m^1, east: 2.530245440436759 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.097650791792688 m^1, east: 1.6701097458830372 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, end: PositionNE { north: 5.097655866952125 m^1, east: 1.6701097458830372 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.097655866952125 m^1, east: 0.8099740513293155 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, end: PositionNE { north: -5.097650791792688 m^1, east: 0.8099740513293155 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.097650791792688 m^1, east: -0.05016164322440608 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, end: PositionNE { north: 5.097655866952125 m^1, east: -0.05016164322440608 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.097655866952125 m^1, east: -0.9102973377781277 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, end: PositionNE { north: -5.097650791792688 m^1, east: -0.9102973377781277 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.097650791792688 m^1, east: -1.7704330323318493 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, end: PositionNE { north: 5.097655866952125 m^1, east: -1.7704330323318493 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.097655866952125 m^1, east: -2.630568726885571 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, end: PositionNE { north: -5.097650791792688 m^1, east: -2.630568726885571 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.097650791792688 m^1, east: -3.490704421439293 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, end: PositionNE { north: 5.097655866952125 m^1, east: -3.490704421439293 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.097655866952125 m^1, east: -4.350840115993014 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, end: PositionNE { north: -5.097650791792688 m^1, east: -4.350840115993014 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084125807198391, lon: 0.07627198292956333 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }] 11:13:35.476 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:13:35.477 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:35.478 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:35.480 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-13-34_surveyArea/photos/mocked_image_0.raw" 11:13:35.480 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:35.480 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:35.554 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:35.556 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:35.567 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:13:35.608 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:35.609 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:35.627 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:35.627 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:35.661 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:35.661 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:35.670 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:35.671 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:35.692 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:35.692 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:35.710 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:35.710 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:35.715 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:35.715 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:35.751 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:35.751 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:35.769 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:35.770 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:35.788 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:35.789 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:35.833 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:35.834 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:35.834 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:35.834 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:35.871 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:35.871 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:35.891 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:35.892 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:35.904 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:35.904 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:35.940 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:35.941 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:35.945 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:35.945 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:35.975 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:35.975 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:35.998 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:35.999 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.008 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.008 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.042 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.043 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.052 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.053 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.094 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.094 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.130 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.134 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.136 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.136 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.176 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.177 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.192 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.193 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.215 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.215 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.262 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.263 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.264 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.264 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.304 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.304 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.323 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.324 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.328 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:13:36.380 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.381 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.390 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.393 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.446 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.448 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.448 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:13:36.459 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.459 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.508 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.508 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.510 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.510 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.538 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.538 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.568 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.569 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.577 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.577 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.614 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.614 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.627 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.628 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.643 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.643 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.675 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.675 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.678 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.680 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.707 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.707 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.732 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.733 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.736 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.736 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.773 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.773 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.786 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.787 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.809 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.809 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.842 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.843 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.844 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.844 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.879 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.879 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.896 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.897 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.910 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.910 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.944 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.944 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:36.947 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:36.948 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:36.984 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:36.988 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.009 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.010 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.020 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.021 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.062 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.062 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.067 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.067 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.094 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.095 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.123 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.124 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.135 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.135 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.164 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:13:37.173 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.173 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.182 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.183 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.246 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.246 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.247 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.247 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.286 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:13:37.319 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.320 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.347 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.347 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.377 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.378 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.381 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.381 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.414 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.414 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.431 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.432 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.439 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.439 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.467 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.467 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.473 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.474 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.501 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-13-34_surveyArea/photos/mocked_image_48.raw" 11:13:37.502 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.502 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.537 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.537 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.537 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.537 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.586 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.586 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.608 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.609 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.623 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.624 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.656 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.656 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.660 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.661 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.693 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.693 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.717 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.718 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.730 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.730 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.762 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.763 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.771 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.771 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.798 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.798 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.825 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.825 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.831 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.831 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.871 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.871 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.884 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.885 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.909 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.909 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.940 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.941 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:37.943 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.943 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.976 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:37.977 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:37.992 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:37.993 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.015 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.015 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.025 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:13:38.055 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:38.056 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.100 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.100 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.123 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:38.124 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.148 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:13:38.174 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:38.175 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.186 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.186 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.237 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.237 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.253 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:38.254 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.286 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.286 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.325 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.325 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.326 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:38.328 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.367 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.367 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.391 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:38.392 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.405 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.405 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.447 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.448 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.455 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:38.456 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.486 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.486 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.524 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:38.526 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.541 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.541 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.588 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.588 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.603 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:38.604 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.631 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.631 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.654 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:38.654 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.657 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.658 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.704 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.704 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.721 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:38.722 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.748 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.749 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.784 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:38.785 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.786 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.786 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.830 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.830 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.845 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:38.846 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.863 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.863 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.897 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.897 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.900 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:38.900 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.938 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.938 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.957 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:38.957 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:38.972 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:38.972 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:38.975 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:13:39.012 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.013 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.037 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.037 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.071 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.071 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.079 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:13:39.121 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.121 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.122 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.122 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.149 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.149 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.172 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.172 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.186 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.186 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.216 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.216 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.221 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.221 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.251 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.251 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.280 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.281 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.292 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.292 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.333 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.334 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.341 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.343 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.372 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.373 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.399 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.400 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.407 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.407 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.456 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.456 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.468 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.470 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.490 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.490 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.539 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.540 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.542 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.542 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-13-34_surveyArea/photos/mocked_image_96.raw" 11:13:39.542 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.585 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.586 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.601 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.602 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.626 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.626 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.664 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.665 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.666 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.667 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.708 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.708 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.731 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.732 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.749 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.749 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.783 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.784 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.786 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.788 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.822 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.822 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1699.85Hz 11:13:39.850 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.850 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.866 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:13:39.866 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.866 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.913 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.913 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.932 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:39.932 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:39.967 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:39.967 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:39.974 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:13:40.023 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:40.023 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:40.030 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:40.031 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:40.057 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:40.057 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:40.106 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:13:40.107 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:40.116 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:13:40.116 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:13:40.130 ERROR [robot_code/robot_core/path_planning/src/path_planner_manager.rs:143] Failed to send control goal: sending on a full channel 11:13:40.130 ERROR [robot_code/robot_core/path_planning/src/lib.rs:486] Failed path planner manager navigation: Error sending/receiving messages from control: sending on a full channel 11:13:40.131 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: CancelledGoals([Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))], ControlConnectionFailure("sending on a full channel")) 11:13:40.132 ERROR [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:532] Goal cancelled because: 'Error sending/receiving messages from control: sending on a full channel' 11:13:40.132 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:13:40.132 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:13:40.132 INFO [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:148] Aborting task: Path planner error: 'Error sending/receiving messages from control: sending on a full channel' 11:13:40.133 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:13:40.133 WARN [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:599] Expected goal to be cancelled: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084117967918667 0.07627070824630659,0.9084133646478095 0.07627070824630659,0.9084133646478095 0.07627325761282004,0.9084117967918667 0.07627325761282004,0.9084117967918667 0.07627070824630659)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), but it is not in list of cancelled goals: [] 11:13:40.134 WARN [robot_code/peripherals/payload/src/lib.rs:98] Payload session was dropped without being stopped, stopping it now 11:13:40.134 WARN [robot_code/robot_core/task_scheduler/src/executor/active.rs:403] Active task aborted: Task(type: SurveyArea, name: 'surveyArea', id: 4dbafdb8-dfdd-4524-831a-5da24436cf2c) 11:13:40.134 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: AbortTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 4dbafdb8-dfdd-4524-831a-5da24436cf2c)"), mode: None } 11:13:40.134 INFO [robot_code/peripherals/payload/src/position_camera.rs:137] Stopping PositionCamera recording, because receiver stopped 11:13:40.135 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:13:40.135 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 }))] 11:13:40.135 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 }))] 11:13:40.135 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Started) 11:13:40.135 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-13-34_surveyArea") 11:13:40.135 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 } 11:13:40.135 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:13:40.135 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: MoveTo, name: 'move to start of 'surveyArea'', id: 0dcd47ad-6fa6-41e9-bfc0-91993e19133c)"), mode: None } 11:13:40.136 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:13:40.136 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 3.714221450689933 m^1, east: -18.524498714964388 m^1, down: 8.998969786448903 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), update_count: 2 } } 11:13:40.136 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(7.000276002353473 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), update_count: 2 } }), hold_duration: None } }] 11:13:40.137 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 11:13:40.137 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 }) 11:13:40.137 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-13-40_move to start of \'surveyArea\'/2025-08-14_11-13-40_move to start of \'surveyArea\'_rust.log" 11:13:40.138 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-13-40_move to start of 'surveyArea' 11:13:40.138 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:40.138 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:553] Starting task 'move to start of 'surveyArea'', to prepare for SurveyArea task 'surveyArea' 11:13:40.491 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), update_count: 2 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:13:40.491 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:40.492 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 }) 11:13:40.493 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:40.564 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:40.564 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:40.632 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:40.632 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:40.702 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:40.702 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:40.765 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:40.766 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:40.822 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:40.823 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:40.876 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:40.877 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:40.929 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:40.930 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:40.982 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:40.983 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:41.042 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:41.042 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:41.096 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:41.096 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:41.138 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:41.138 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:41.187 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:41.188 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:41.242 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:41.243 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:41.307 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:41.307 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:13:41.377 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 11:13:41.377 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 }) 11:13:41.377 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), max_velocity: 1.0 m^1 s^-1 })) 11:13:41.378 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SurveyArea task 'surveyArea' 11:13:41.378 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:13:41.378 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:13:41.379 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:13:41.380 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084106631201176 0.07627539568135372,0.9084122309760605 0.07627539568135372,0.9084122309760605 0.07627794504416524,0.9084106631201176 0.07627794504416524,0.9084106631201176 0.07627539568135372)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:13:41.380 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084106631201176 0.07627539568135372,0.9084122309760605 0.07627539568135372,0.9084122309760605 0.07627794504416524,0.9084106631201176 0.07627794504416524,0.9084106631201176 0.07627539568135372)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:13:41.380 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084106631201176 0.07627539568135372,0.9084122309760605 0.07627539568135372,0.9084122309760605 0.07627794504416524,0.9084106631201176 0.07627794504416524,0.9084106631201176 0.07627539568135372)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started) 11:13:41.380 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:13:41.380 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: e93a1a87-566e-42b3-8904-97955d8945d0)"), mode: None } 11:13:41.380 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-13-40_move to start of 'surveyArea'") 11:13:41.381 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-13-41_surveyArea/2025-08-14_11-13-41_surveyArea_rust.log" 11:13:41.381 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-13-41_surveyArea 11:13:41.382 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:13:41.382 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.016874818203126037 m^1, east: 0.08250413481087505 m^1, down: 6.827293596194709 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), update_count: 2 } } 11:13:41.382 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(6.827067245703832 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -5.097650736503407 m^1, east: 4.250516818077261 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), update_count: 2 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -5.097650736503407 m^1, east: 4.250516818077261 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), update_count: 2 } }), target_velocity: 0.4 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:13:41.382 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084106631201176 0.07627539568135372,0.9084122309760605 0.07627539568135372,0.9084122309760605 0.07627794504416524,0.9084106631201176 0.07627794504416524,0.9084106631201176 0.07627539568135372)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:13:41.382 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084106631201176 0.07627539568135372,0.9084122309760605 0.07627539568135372,0.9084122309760605 0.07627794504416524,0.9084106631201176 0.07627794504416524,0.9084106631201176 0.07627539568135372)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing) 11:13:41.382 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084106631201176 0.07627539568135372,0.9084122309760605 0.07627539568135372,0.9084122309760605 0.07627794504416524,0.9084106631201176 0.07627794504416524,0.9084106631201176 0.07627539568135372)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:13:41.383 ERROR [robot_code/robot_core/path_planning/src/path_planner_manager.rs:143] Failed to send control goal: sending on a full channel 11:13:41.383 ERROR [robot_code/robot_core/path_planning/src/lib.rs:465] Failed path planner manager preparation: Error sending/receiving messages from control: sending on a full channel 11:13:41.383 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: CancelledGoals([Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084106631201176 0.07627539568135372,0.9084122309760605 0.07627539568135372,0.9084122309760605 0.07627794504416524,0.9084106631201176 0.07627794504416524,0.9084106631201176 0.07627539568135372)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))], ControlConnectionFailure("sending on a full channel")) 11:13:41.384 ERROR [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:532] Goal cancelled because: 'Error sending/receiving messages from control: sending on a full channel' 11:13:41.384 INFO [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:148] Aborting task: Path planner error: 'Error sending/receiving messages from control: sending on a full channel' 11:13:41.384 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:13:41.385 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:13:41.385 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:13:41.385 WARN [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:599] Expected goal to be cancelled: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084106631201176 0.07627539568135372,0.9084122309760605 0.07627539568135372,0.9084122309760605 0.07627794504416524,0.9084106631201176 0.07627794504416524,0.9084106631201176 0.07627539568135372)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), but it is not in list of cancelled goals: [] 11:13:41.385 WARN [robot_code/peripherals/payload/src/lib.rs:98] Payload session was dropped without being stopped, stopping it now 11:13:41.385 WARN [robot_code/robot_core/task_scheduler/src/executor/active.rs:403] Active task aborted: Task(type: SurveyArea, name: 'surveyArea', id: e93a1a87-566e-42b3-8904-97955d8945d0) 11:13:41.386 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: AbortTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: e93a1a87-566e-42b3-8904-97955d8945d0)"), mode: None } 11:13:41.386 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:13:41.387 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:13:41.387 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:13:41.387 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started) 11:13:41.387 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'WaitingHold', id: 489db0dc-5d2d-4eb0-b87f-02c564c9f6ff)"), mode: None } 11:13:41.387 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-13-41_surveyArea") 11:13:41.387 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:13:41.387 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.019143382987138583 m^1, east: 0.09353437100910064 m^1, down: 6.825490579650289 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), update_count: 2 } } 11:13:41.388 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Preparing) 11:13:41.388 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:13:41.388 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.019403398227855563 m^1, east: 0.09479781619876561 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), update_count: 2 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:13:41.390 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-13-41_WaitingHold/2025-08-14_11-13-41_WaitingHold_rust.log" 11:13:41.390 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-13-41_WaitingHold 11:13:41.390 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'WaitingHold' 11:13:41.390 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:42.428 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.1988136174916555, Enable control depth: 0.2, Depth control enabled: true 11:13:42.436 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:13:42.480 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.019403398227855563 m^1, east: 0.09479781619876561 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), update_count: 2 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }] 11:13:42.480 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:42.480 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:13:42.480 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:42.548 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:42.549 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:42.575 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 63.091 degrees 11:13:42.575 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 63.857 degrees 11:13:42.577 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 64.618 degrees 11:13:42.578 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 65.373 degrees 11:13:42.579 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 66.122 degrees 11:13:42.631 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:42.632 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:42.679 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (93.87) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.679 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-7.79) within bounds again, disabling safety fallback mode! 11:13:42.680 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (96.38) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.683 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-7.56) within bounds again, disabling safety fallback mode! 11:13:42.685 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (102.27) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.686 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-8.02) within bounds again, disabling safety fallback mode! 11:13:42.688 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (104.62) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.689 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-8.50) within bounds again, disabling safety fallback mode! 11:13:42.691 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (105.55) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.694 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-8.57) within bounds again, disabling safety fallback mode! 11:13:42.695 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (109.70) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.695 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:13:42.696 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20032329791754297, Enable control depth: 0.2, Depth control enabled: false 11:13:42.696 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-8.70) within bounds again, disabling safety fallback mode! 11:13:42.696 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0, Enable control depth: 0.2, Depth control enabled: true 11:13:42.696 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:13:42.698 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (112.37) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.698 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:13:42.698 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20152891070872012, Enable control depth: 0.2, Depth control enabled: false 11:13:42.699 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0, Enable control depth: 0.2, Depth control enabled: true 11:13:42.699 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:13:42.699 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-9.29) within bounds again, disabling safety fallback mode! 11:13:42.703 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (114.60) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.703 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:13:42.703 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20231047307965075, Enable control depth: 0.2, Depth control enabled: false 11:13:42.704 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0, Enable control depth: 0.2, Depth control enabled: true 11:13:42.704 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-9.90) within bounds again, disabling safety fallback mode! 11:13:42.704 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:13:42.705 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (115.38) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.706 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20269520214430356, Enable control depth: 0.2, Depth control enabled: false 11:13:42.706 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0, Enable control depth: 0.2, Depth control enabled: true 11:13:42.706 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:13:42.706 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:13:42.706 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20274659502089695, Enable control depth: 0.2, Depth control enabled: false 11:13:42.707 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:13:42.708 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0, Enable control depth: 0.2, Depth control enabled: true 11:13:42.708 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:13:42.709 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20260585202190498, Enable control depth: 0.2, Depth control enabled: false 11:13:42.709 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:13:42.710 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:13:42.710 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0, Enable control depth: 0.2, Depth control enabled: true 11:13:42.710 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-10.84) within bounds again, disabling safety fallback mode! 11:13:42.711 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20218907421599838, Enable control depth: 0.2, Depth control enabled: false 11:13:42.711 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (117.18) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.711 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:13:42.711 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0, Enable control depth: 0.2, Depth control enabled: true 11:13:42.711 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:13:42.711 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.2018569693419214, Enable control depth: 0.2, Depth control enabled: false 11:13:42.711 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:13:42.712 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0, Enable control depth: 0.2, Depth control enabled: true 11:13:42.712 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:13:42.712 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-11.23) within bounds again, disabling safety fallback mode! 11:13:42.713 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (123.91) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.713 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:13:42.713 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20104358889155968, Enable control depth: 0.2, Depth control enabled: false 11:13:42.713 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0, Enable control depth: 0.2, Depth control enabled: true 11:13:42.713 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:13:42.714 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-11.98) within bounds again, disabling safety fallback mode! 11:13:42.715 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (124.53) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.715 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:42.716 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:42.716 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-12.19) within bounds again, disabling safety fallback mode! 11:13:42.717 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (128.60) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.719 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-13.01) within bounds again, disabling safety fallback mode! 11:13:42.720 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (130.60) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.720 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-13.85) within bounds again, disabling safety fallback mode! 11:13:42.721 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (132.60) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.722 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-14.71) within bounds again, disabling safety fallback mode! 11:13:42.724 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (133.10) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.731 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-16.25) within bounds again, disabling safety fallback mode! 11:13:42.734 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (138.71) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.736 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-16.78) within bounds again, disabling safety fallback mode! 11:13:42.737 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (141.02) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.739 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-17.73) within bounds again, disabling safety fallback mode! 11:13:42.740 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (142.90) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.741 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-18.70) within bounds again, disabling safety fallback mode! 11:13:42.743 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (144.78) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.744 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-19.66) within bounds again, disabling safety fallback mode! 11:13:42.746 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (145.15) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.802 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:42.803 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:42.869 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-28.81) within bounds again, disabling safety fallback mode! 11:13:42.872 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (71.36) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.873 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-25.35) within bounds again, disabling safety fallback mode! 11:13:42.878 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:42.879 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:42.903 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (30.49) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:13:42.920 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 63.820 degrees 11:13:42.923 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (29.99) within bounds again, disabling safety fallback mode! 11:13:42.945 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:42.945 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.019 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.019 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.091 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.091 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.141 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.142 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.196 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.197 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.245 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.246 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.291 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.291 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.345 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.346 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.467 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.469 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.605 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.605 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.667 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.668 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.722 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.723 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.772 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.772 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.824 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.824 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.874 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.874 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.919 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.920 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:43.972 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:43.972 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.043 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.043 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.100 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.101 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.149 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.149 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.195 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.195 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.240 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.240 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.280 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.280 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.331 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.331 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.375 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.375 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.419 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.420 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.490 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.492 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.564 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.564 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.639 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.639 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.710 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.711 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.768 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.768 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.811 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.811 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 3206.56Hz 11:13:44.851 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.851 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.890 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.890 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.938 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.939 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:44.997 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:44.998 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.048 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.048 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.110 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.111 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.175 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.175 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.218 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.218 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.259 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.260 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.301 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.302 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.339 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.339 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.386 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.386 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.433 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.434 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.472 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.472 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.516 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.517 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.562 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.562 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.599 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.600 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.636 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.637 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.681 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.682 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.718 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.718 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.752 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.753 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.790 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.790 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.835 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.835 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.875 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.875 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.922 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.922 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:45.978 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:45.978 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.031 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.031 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.077 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.077 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.135 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.135 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.167 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.167 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.194 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.194 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.228 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.229 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.268 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.268 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.327 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.327 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.381 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.381 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.436 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.436 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.482 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.482 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.528 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.529 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.585 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.585 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.621 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.623 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.668 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.668 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.708 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.708 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.759 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.759 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.812 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.813 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.859 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.860 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.905 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.905 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.946 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.946 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:46.985 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:46.985 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.030 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.030 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.066 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.066 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.111 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.111 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.153 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.154 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.199 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.199 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.240 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.241 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.284 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.284 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.321 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.322 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.361 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.361 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.403 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.403 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.442 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.442 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.481 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.481 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.514 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.514 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.552 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.553 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.588 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.588 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.627 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.627 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.669 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.669 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.713 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.713 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.752 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.753 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.793 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.794 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.835 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.835 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.868 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.868 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.905 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.906 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.945 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.945 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:47.983 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:47.983 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.019 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.019 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.061 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.061 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.108 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.108 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.147 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.147 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.186 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.186 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.228 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.228 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.259 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.259 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.297 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.297 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.342 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.342 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.388 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.389 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.433 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.433 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.469 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.470 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.519 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.519 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.558 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.558 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.599 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.599 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.639 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.639 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.676 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.676 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.719 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.719 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.764 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.765 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.802 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.802 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.838 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.839 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.883 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.883 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.924 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.924 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:48.965 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:48.965 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:49.003 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:49.004 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:49.036 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:49.036 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:49.074 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:49.075 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:49.119 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:49.119 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:49.165 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:49.166 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:49.203 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:49.203 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:49.242 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:49.242 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:49.277 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:49.278 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:49.321 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:49.321 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:49.362 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:49.362 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:49.397 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:49.397 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:49.439 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:49.439 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:49.482 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:13:49.482 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:49.519 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:13:49.519 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Finished) 11:13:49.519 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:154] Disengaging TaskExecutor 11:13:49.519 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:13:49.519 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("ErrorMode(error:'Path planner is still active')") } 11:13:49.519 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:362] Waiting hold task finished before new task was started, disengaging now 11:13:49.519 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-13-41_WaitingHold") 11:13:49.520 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:13:49.520 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:13:49.520 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:42] Path planner stopped successfully 11:13:49.520 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:76] Executor in ErrorMode, but deactivated successfully 11:13:49.520 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:13:49.520 WARN [robot_code/robot_core/task_scheduler/src/executor/error.rs:72] Executor in ErrorMode with error 'Path planner is still active' 11:13:49.520 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("IdleMode") } 11:13:49.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 6280.74Hz 11:13:54.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 7785.31Hz 11:13:59.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 6090.36Hz 11:14:04.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 6528.86Hz 11:14:09.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 5820.69Hz 11:14:14.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 5701.61Hz 11:14:19.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 6020.32Hz 11:14:24.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 5532.38Hz 11:14:29.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 4971.39Hz 11:14:34.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 5249.51Hz 11:14:39.839 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 6547.97Hz 11:14:44.840 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 499.00Hz 11:14:49.840 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 4804.92Hz 11:14:54.840 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 4965.56Hz 11:14:59.840 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 5526.66Hz 11:15:04.840 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 4904.08Hz 11:15:09.840 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 6542.40Hz 11:15:14.840 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 6103.78Hz 11:15:19.840 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 5313.41Hz 11:15:24.840 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 6032.89Hz 11:15:29.840 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 5699.76Hz 11:15:34.840 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 5366.71Hz 11:15:39.840 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 5603.12Hz 11:15:44.841 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 418.24Hz 11:15:49.841 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 4852.86Hz 11:15:54.841 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 7547.57Hz 11:15:59.841 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 6994.23Hz 11:16:04.841 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 5536.61Hz 11:16:09.841 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 5537.62Hz 11:16:14.841 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 6576.57Hz 11:16:19.841 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 7345.22Hz 11:16:24.841 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2944.68Hz 11:16:28.645 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:16:28.646 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: AddTask(SurveyArea: 'surveyArea') 11:16:29.841 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 4541.35Hz 11:16:30.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:16:30.763 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: AddTask(SurveyArea: 'surveyArea') 11:16:32.257 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: Engage 11:16:32.257 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 11:16:32.258 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 11:16:32.259 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:16:32.259 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [DirectControl(ControlGoalWithMeta { id: 39ee2689-187c-46ed-adf4-ee38b1c90d7c, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: 0.7543836333150596, w: 0.6564338000029932, euler (degrees): (0.0, 0.0, 97.94308423981973)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:16:32.259 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 39ee2689-187c-46ed-adf4-ee38b1c90d7c, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: 0.7543836333150596, w: 0.6564338000029932, euler (degrees): (0.0, 0.0, 97.94308423981973)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:16:32.260 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 39ee2689-187c-46ed-adf4-ee38b1c90d7c, start_time: Some(17213.34 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: 0.7543836333150596, w: 0.6564338000029932, euler (degrees): (0.0, 0.0, 97.94308423981973)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started) 11:16:32.260 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:16:32.260 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SimpleGoal, name: 'Upright task', id: eaf8f666-c41f-42f4-ae70-692c3da1359c)"), mode: None } 11:16:32.260 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-16-32_Upright task/2025-08-14_11-16-32_Upright task_rust.log" 11:16:32.261 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-16-32_Upright task 11:16:32.261 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849562731311265, Enable control depth: 0.2, Depth control enabled: true 11:16:32.261 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:16:32.262 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:16:32.262 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.021085437954239044 m^1, east: 0.10128692655719308 m^1, down: 0.09849562731311265 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084114470480902, lon: 0.07627667036275948 }), update_count: 2 } } 11:16:32.262 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 39ee2689-187c-46ed-adf4-ee38b1c90d7c, start_time: Some(17213.34 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: 0.7543836333150596, w: 0.6564338000029932, euler (degrees): (0.0, 0.0, 97.94308423981973)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished) 11:16:32.262 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 39ee2689-187c-46ed-adf4-ee38b1c90d7c, start_time: Some(17213.34 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: 0.7543836333150596, w: 0.6564338000029932, euler (degrees): (0.0, 0.0, 97.94308423981973)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }) 11:16:32.263 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:16:32.263 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:16:32.264 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 }))] 11:16:32.264 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })), Started) 11:16:32.264 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:16:32.264 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 }))] 11:16:32.264 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 } 11:16:32.264 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: MoveTo, name: 'move to start of 'surveyArea'', id: fe0cbc47-49df-4e57-974c-07df26b3d9c5)"), mode: None } 11:16:32.265 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-16-32_Upright task") 11:16:32.265 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-16-32_move to start of \'surveyArea\'/2025-08-14_11-16-32_move to start of \'surveyArea\'_rust.log" 11:16:32.266 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-16-32_move to start of 'surveyArea' 11:16:32.266 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09799334154213192, Enable control depth: 0.2, Depth control enabled: true 11:16:32.266 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:16:32.266 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), update_count: 3 } }), hold_duration: None } }] 11:16:32.266 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 11:16:32.267 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:32.267 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:16:32.267 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:553] Starting task 'move to start of 'surveyArea'', to prepare for SurveyArea task 'surveyArea' 11:16:32.267 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -13.340120735648634 m^1, east: 4.9663209413140645 m^1, down: 0.09799334154213192 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), update_count: 3 } } 11:16:32.268 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 }) 11:16:32.314 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20402884448900238, Enable control depth: 0.2, Depth control enabled: false 11:16:32.314 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:16:32.397 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 11:16:32.634 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), update_count: 3 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:16:32.634 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 }) 11:16:32.634 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:32.635 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:32.738 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:32.738 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:32.841 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:32.841 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:32.934 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:32.934 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:33.028 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:33.029 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:33.137 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:33.138 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:33.234 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:33.235 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:33.327 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:33.328 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:33.390 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:33.390 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:33.438 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 11:16:33.438 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 }) 11:16:33.439 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:33.440 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SurveyArea task 'surveyArea' 11:16:33.440 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:16:33.441 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:16:33.441 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084127523139184 0.07627415798490725,0.9084143201698612 0.07627415798490725,0.9084143201698612 0.07627670735454709,0.9084127523139184 0.07627670735454709,0.9084127523139184 0.07627415798490725)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:16:33.441 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084127523139184 0.07627415798490725,0.9084143201698612 0.07627415798490725,0.9084143201698612 0.07627670735454709,0.9084127523139184 0.07627670735454709,0.9084127523139184 0.07627415798490725)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:16:33.441 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084127523139184 0.07627415798490725,0.9084143201698612 0.07627415798490725,0.9084143201698612 0.07627670735454709,0.9084127523139184 0.07627670735454709,0.9084127523139184 0.07627415798490725)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started) 11:16:33.441 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:16:33.443 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:16:33.443 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 9b0ae60f-6269-4728-a8b6-b742ea8e813d)"), mode: None } 11:16:33.443 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-16-32_move to start of 'surveyArea'") 11:16:33.445 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-16-33_surveyArea/2025-08-14_11-16-33_surveyArea_rust.log" 11:16:33.445 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-16-33_surveyArea 11:16:33.449 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:16:33.450 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.13055414773444513 m^1, east: -0.04869720091328803 m^1, down: 1.2485613625464298 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), update_count: 3 } } 11:16:33.450 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.2486480971591238 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 5.097655908780263 m^1, east: -4.250516851683681 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), update_count: 3 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 5.097655908780263 m^1, east: -4.250516851683681 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084135362418908, lon: 0.07627543266972718 }), update_count: 3 } }), target_velocity: 0.4 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:16:33.450 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084127523139184 0.07627415798490725,0.9084143201698612 0.07627415798490725,0.9084143201698612 0.07627670735454709,0.9084127523139184 0.07627670735454709,0.9084127523139184 0.07627415798490725)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:16:33.450 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084127523139184 0.07627415798490725,0.9084143201698612 0.07627415798490725,0.9084143201698612 0.07627670735454709,0.9084127523139184 0.07627670735454709,0.9084127523139184 0.07627415798490725)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing) 11:16:33.451 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084127523139184 0.07627415798490725,0.9084143201698612 0.07627415798490725,0.9084143201698612 0.07627670735454709,0.9084127523139184 0.07627670735454709,0.9084127523139184 0.07627415798490725)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:16:33.451 ERROR [robot_code/robot_core/path_planning/src/path_planner_manager.rs:143] Failed to send control goal: sending on a full channel 11:16:33.451 ERROR [robot_code/robot_core/path_planning/src/lib.rs:465] Failed path planner manager preparation: Error sending/receiving messages from control: sending on a full channel 11:16:33.452 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: CancelledGoals([Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084127523139184 0.07627415798490725,0.9084143201698612 0.07627415798490725,0.9084143201698612 0.07627670735454709,0.9084127523139184 0.07627670735454709,0.9084127523139184 0.07627415798490725)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))], ControlConnectionFailure("sending on a full channel")) 11:16:33.452 ERROR [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:532] Goal cancelled because: 'Error sending/receiving messages from control: sending on a full channel' 11:16:33.453 INFO [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:148] Aborting task: Path planner error: 'Error sending/receiving messages from control: sending on a full channel' 11:16:33.456 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:16:33.457 WARN [robot_code/peripherals/payload/src/lib.rs:98] Payload session was dropped without being stopped, stopping it now 11:16:33.457 WARN [robot_code/robot_core/task_scheduler/src/executor/active.rs:403] Active task aborted: Task(type: SurveyArea, name: 'surveyArea', id: 9b0ae60f-6269-4728-a8b6-b742ea8e813d) 11:16:33.457 WARN [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:599] Expected goal to be cancelled: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084127523139184 0.07627415798490725,0.9084143201698612 0.07627415798490725,0.9084143201698612 0.07627670735454709,0.9084127523139184 0.07627670735454709,0.9084127523139184 0.07627415798490725)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), but it is not in list of cancelled goals: [] 11:16:33.457 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:16:33.458 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: AbortTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 9b0ae60f-6269-4728-a8b6-b742ea8e813d)"), mode: None } 11:16:33.458 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:16:33.469 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 }))] 11:16:33.470 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 }))] 11:16:33.470 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:16:33.470 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-16-33_surveyArea") 11:16:33.470 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: MoveTo, name: 'move to start of 'surveyArea'', id: 52f18051-1004-47d0-8efe-0caf951da214)"), mode: None } 11:16:33.471 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-16-33_move to start of \'surveyArea\'/2025-08-14_11-16-33_move to start of \'surveyArea\'_rust.log" 11:16:33.471 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-16-33_move to start of 'surveyArea' 11:16:33.471 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:553] Starting task 'move to start of 'surveyArea'', to prepare for SurveyArea task 'surveyArea' 11:16:33.471 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })), Started) 11:16:33.471 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 } 11:16:33.476 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:16:33.476 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.2482884367535652 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }), hold_duration: None } }] 11:16:33.476 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 11:16:33.476 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 }) 11:16:33.476 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 9.848924361240606 m^1, east: -0.6747221823034176 m^1, down: 1.2484513657350698 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } } 11:16:33.477 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:34.022 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:34.022 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:16:34.023 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 }) 11:16:34.023 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:34.129 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:34.130 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:34.226 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:34.228 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:34.318 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:34.319 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:34.393 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:34.395 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:34.501 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:34.502 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:34.614 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:16:34.614 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:34.645 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 11:16:34.645 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 }) 11:16:34.646 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), max_velocity: 1.0 m^1 s^-1 })) 11:16:34.647 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:16:34.647 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:16:34.647 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SurveyArea task 'surveyArea' 11:16:34.649 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:16:34.649 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:16:34.649 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: d7e53b0f-8fa0-4387-b4cf-8ce567e8cb25)"), mode: None } 11:16:34.649 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-16-33_move to start of 'surveyArea'") 11:16:34.650 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:16:34.651 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-16-34_surveyArea/2025-08-14_11-16-34_surveyArea_rust.log" 11:16:34.651 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:16:34.651 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started) 11:16:34.651 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-16-34_surveyArea 11:16:34.654 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.11595639810749284 m^1, east: 0.00783804065703021 m^1, down: 1.248754433466803 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } } 11:16:34.654 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:16:34.655 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.2486110904516197 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -5.0976507647419975 m^1, east: 4.250516816607764 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -5.0976507647419975 m^1, east: 4.250516816607764 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }), target_velocity: 0.4 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:16:34.656 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:16:34.656 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing) 11:16:34.659 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:16:34.846 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 207.28Hz 11:16:36.789 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.0976507647419975 m^1, east: 4.250516816607764 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, end: PositionNE { north: 5.09765583439817 m^1, east: 4.250516816607764 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.09765583439817 m^1, east: 3.390381122054042 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, end: PositionNE { north: -5.0976507647419975 m^1, east: 3.390381122054042 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.0976507647419975 m^1, east: 2.5302454275003203 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, end: PositionNE { north: 5.09765583439817 m^1, east: 2.5302454275003203 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.09765583439817 m^1, east: 1.6701097329465986 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, end: PositionNE { north: -5.0976507647419975 m^1, east: 1.6701097329465986 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.0976507647419975 m^1, east: 0.809974038392877 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, end: PositionNE { north: 5.09765583439817 m^1, east: 0.809974038392877 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.09765583439817 m^1, east: -0.05016165616084467 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, end: PositionNE { north: -5.0976507647419975 m^1, east: -0.05016165616084467 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.0976507647419975 m^1, east: -0.9102973507145663 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, end: PositionNE { north: 5.09765583439817 m^1, east: -0.9102973507145663 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.09765583439817 m^1, east: -1.770433045268288 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, end: PositionNE { north: -5.0976507647419975 m^1, east: -1.770433045268288 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.0976507647419975 m^1, east: -2.6305687398220097 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, end: PositionNE { north: 5.09765583439817 m^1, east: -2.6305687398220097 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.09765583439817 m^1, east: -3.4907044343757314 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, end: PositionNE { north: -5.0976507647419975 m^1, east: -3.4907044343757314 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.0976507647419975 m^1, east: -4.350840128929453 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, end: PositionNE { north: 5.09765583439817 m^1, east: -4.350840128929453 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }] 11:16:36.790 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:16:36.792 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:16:36.792 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:16:36.793 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:16:36.794 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-16-34_surveyArea/photos/mocked_image_0.raw" 11:16:36.794 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:16:36.913 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:16:36.914 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:16:37.028 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:16:37.028 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:16:37.142 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:16:37.143 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:16:37.253 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:16:37.254 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:16:37.265 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:16:37.399 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:16:37.399 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:16:37.406 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:16:37.406 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:16:37.499 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:16:37.499 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:16:37.545 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:16:37.547 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:16:37.582 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:16:37.582 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:16:37.715 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:16:37.715 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:16:37.722 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:16:37.725 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:16:37.802 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:16:37.802 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:16:37.882 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:16:37.884 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:16:37.901 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:16:37.901 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:16:37.998 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:16:37.998 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:16:38.036 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:16:38.037 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:16:38.100 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:16:38.101 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:16:38.137 ERROR [robot_code/robot_core/path_planning/src/path_planner_manager.rs:143] Failed to send control goal: sending on a full channel 11:16:38.137 ERROR [robot_code/robot_core/path_planning/src/lib.rs:486] Failed path planner manager navigation: Error sending/receiving messages from control: sending on a full channel 11:16:38.137 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: CancelledGoals([Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))], ControlConnectionFailure("sending on a full channel")) 11:16:38.138 ERROR [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:532] Goal cancelled because: 'Error sending/receiving messages from control: sending on a full channel' 11:16:38.138 INFO [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:148] Aborting task: Path planner error: 'Error sending/receiving messages from control: sending on a full channel' 11:16:38.139 WARN [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:599] Expected goal to be cancelled: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112299561988 0.07627431599076351,0.9084127978121417 0.07627431599076351,0.9084127978121417 0.07627686535542244,0.9084112299561988 0.07627686535542244,0.9084112299561988 0.07627431599076351)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), but it is not in list of cancelled goals: [] 11:16:38.139 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:16:38.139 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:16:38.139 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:16:38.172 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:16:38.172 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:16:38.192 ERROR [robot_code/peripherals/payload/src/position_camera.rs:133] Payload status channel was full! 11:16:38.346 WARN [robot_code/peripherals/payload/src/lib.rs:98] Payload session was dropped without being stopped, stopping it now 11:16:38.347 WARN [robot_code/robot_core/task_scheduler/src/executor/active.rs:403] Active task aborted: Task(type: SurveyArea, name: 'surveyArea', id: d7e53b0f-8fa0-4387-b4cf-8ce567e8cb25) 11:16:38.347 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: AbortTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: d7e53b0f-8fa0-4387-b4cf-8ce567e8cb25)"), mode: None } 11:16:38.349 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:16:38.349 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:16:38.350 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started) 11:16:38.350 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'WaitingHold', id: 53a29544-e277-4b0a-8131-b1fd5c2bc8c2)"), mode: None } 11:16:38.350 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:16:38.350 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:16:38.351 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-16-34_surveyArea") 11:16:38.353 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-16-38_WaitingHold/2025-08-14_11-16-38_WaitingHold_rust.log" 11:16:38.353 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-16-38_WaitingHold 11:16:38.353 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'WaitingHold' 11:16:38.354 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.14754266005678984 m^1, east: 4.246085893019647 m^1, down: 8.80626668377434 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } } 11:16:38.354 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.150114225276584 m^1, east: 4.246064542917522 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:16:38.354 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:16:38.354 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Preparing) 11:16:38.355 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:16:38.357 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:16:38.804 ERROR [robot_code/robot_core/path_planning/src/path_planner_manager.rs:143] Failed to send control goal: sending on a full channel 11:16:38.804 ERROR [robot_code/robot_core/path_planning/src/lib.rs:465] Failed path planner manager preparation: Error sending/receiving messages from control: sending on a full channel 11:16:38.804 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: CancelledGoals([Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))], ControlConnectionFailure("sending on a full channel")) 11:16:38.807 ERROR [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:532] Goal cancelled because: 'Error sending/receiving messages from control: sending on a full channel' 11:16:38.809 INFO [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:148] Aborting task: Path planner error: 'Error sending/receiving messages from control: sending on a full channel' 11:16:38.810 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:16:38.810 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-16-38_WaitingHold") 11:16:38.811 WARN [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:599] Expected goal to be cancelled: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), but it is not in list of cancelled goals: [] 11:16:38.811 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("ErrorMode(error:'Waiting hold got error during update')") } 11:16:38.814 WARN [robot_code/robot_core/task_scheduler/src/executor/error.rs:72] Executor in ErrorMode with error 'Waiting hold got error during update' 11:16:38.814 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:16:38.814 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:16:38.815 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:42] Path planner stopped successfully 11:16:38.815 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:76] Executor in ErrorMode, but deactivated successfully 11:16:38.815 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("IdleMode") } 11:16:38.815 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:16:39.846 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1362.07Hz 11:16:44.845 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1342.10Hz 11:16:49.845 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2868.51Hz 11:16:54.845 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2407.70Hz 11:16:59.847 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 388.85Hz 11:17:04.847 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2701.39Hz 11:17:09.847 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1206.24Hz 11:17:14.847 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1480.46Hz 11:17:19.848 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1463.08Hz 11:17:22.228 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:17:22.228 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: AddTask(SurveyArea: 'surveyArea') 11:17:23.954 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: Engage 11:17:23.955 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 11:17:23.955 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 11:17:23.956 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:17:23.956 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: a8e83330-d195-4deb-8116-f5592c068552, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: 0.9625133229372146, w: 0.2712344063137293, euler (degrees): (0.0, 0.0, 148.52453115566024)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:17:23.956 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [DirectControl(ControlGoalWithMeta { id: a8e83330-d195-4deb-8116-f5592c068552, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: 0.9625133229372146, w: 0.2712344063137293, euler (degrees): (0.0, 0.0, 148.52453115566024)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:17:23.957 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:17:23.958 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SimpleGoal, name: 'Upright task', id: db34d4f5-2a10-44ad-bf19-10059cf480a1)"), mode: None } 11:17:23.958 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: a8e83330-d195-4deb-8116-f5592c068552, start_time: Some(19156.42 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: 0.9625133229372146, w: 0.2712344063137293, euler (degrees): (0.0, 0.0, 148.52453115566024)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started) 11:17:23.962 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-17-23_Upright task/2025-08-14_11-17-23_Upright task_rust.log" 11:17:23.962 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-17-23_Upright task 11:17:23.964 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849561818352708, Enable control depth: 0.2, Depth control enabled: true 11:17:23.964 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:17:23.964 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.14926112011733625 m^1, east: 4.240135769662695 m^1, down: 0.09849561818352708 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084120138841714, lon: 0.07627559067309299 }), update_count: 4 } } 11:17:23.964 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:17:23.964 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: a8e83330-d195-4deb-8116-f5592c068552, start_time: Some(19156.42 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: 0.9625133229372146, w: 0.2712344063137293, euler (degrees): (0.0, 0.0, 148.52453115566024)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished) 11:17:23.966 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: a8e83330-d195-4deb-8116-f5592c068552, start_time: Some(19156.42 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: 0.9625133229372146, w: 0.2712344063137293, euler (degrees): (0.0, 0.0, 148.52453115566024)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }) 11:17:23.967 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:17:23.967 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:17:23.967 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 }))] 11:17:23.968 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 }))] 11:17:23.969 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })), Started) 11:17:23.969 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:17:23.969 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: MoveTo, name: 'move to start of 'surveyArea'', id: c03db013-44da-4d0d-a31e-0542c285024b)"), mode: None } 11:17:23.969 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 } 11:17:23.969 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-17-23_Upright task") 11:17:23.970 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-17-23_move to start of \'surveyArea\'/2025-08-14_11-17-23_move to start of \'surveyArea\'_rust.log" 11:17:23.970 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-17-23_move to start of 'surveyArea' 11:17:23.970 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:553] Starting task 'move to start of 'surveyArea'', to prepare for SurveyArea task 'surveyArea' 11:17:23.973 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09799334074857696, Enable control depth: 0.2, Depth control enabled: true 11:17:23.974 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 4.898646705313924 m^1, east: -16.255173375952502 m^1, down: 0.09799334074857696 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } } 11:17:23.974 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }), hold_duration: None } }] 11:17:23.974 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 11:17:23.974 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:17:23.974 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 }) 11:17:23.974 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:17:23.977 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })) 11:17:24.051 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.2040092230910684, Enable control depth: 0.2, Depth control enabled: false 11:17:24.052 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:17:24.140 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 11:17:24.275 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:17:24.275 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:17:24.277 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })) 11:17:24.277 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 }) 11:17:24.419 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:17:24.421 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })) 11:17:24.546 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:17:24.546 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })) 11:17:24.659 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:17:24.660 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })) 11:17:24.780 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:17:24.781 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })) 11:17:24.849 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 344.50Hz 11:17:24.936 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:17:24.937 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })) 11:17:25.049 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:17:25.050 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })) 11:17:25.168 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:17:25.170 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })) 11:17:25.335 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:17:25.337 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })) 11:17:25.481 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:17:25.483 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })) 11:17:25.572 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 }) 11:17:25.572 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 11:17:25.573 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), max_velocity: 1.0 m^1 s^-1 })) 11:17:25.573 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SurveyArea task 'surveyArea' 11:17:25.574 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:17:25.574 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:17:25.575 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:17:25.575 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:17:25.576 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:17:25.577 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started) 11:17:25.577 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: d8ad717a-0a4b-4547-8e85-fe3b63858b79)"), mode: None } 11:17:25.577 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:17:25.577 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-17-23_move to start of 'surveyArea'") 11:17:25.581 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-17-25_surveyArea/2025-08-14_11-17-25_surveyArea_rust.log" 11:17:25.582 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.0914660992744085 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -5.0976507271063 m^1, east: 4.250516814445796 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -5.0976507271063 m^1, east: 4.250516814445796 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }), target_velocity: 0.4 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:17:25.582 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing) 11:17:25.584 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:17:25.584 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:17:25.584 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-17-25_surveyArea 11:17:25.584 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.04417004198804835 m^1, east: 0.1469099823150946 m^1, down: 1.0915115151153592 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } } 11:17:25.585 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:28.369 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.0976507271063 m^1, east: 4.250516814445796 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, end: PositionNE { north: 5.0976557826269 m^1, east: 4.250516814445796 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.0976557826269 m^1, east: 3.3903811198920746 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, end: PositionNE { north: -5.0976507271063 m^1, east: 3.3903811198920746 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.0976507271063 m^1, east: 2.530245425338353 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, end: PositionNE { north: 5.0976557826269 m^1, east: 2.530245425338353 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.0976557826269 m^1, east: 1.670109730784631 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, end: PositionNE { north: -5.0976507271063 m^1, east: 1.670109730784631 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.0976507271063 m^1, east: 0.8099740362309095 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, end: PositionNE { north: 5.0976557826269 m^1, east: 0.8099740362309095 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.0976557826269 m^1, east: -0.050161658322812164 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, end: PositionNE { north: -5.0976507271063 m^1, east: -0.050161658322812164 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.0976507271063 m^1, east: -0.9102973528765338 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, end: PositionNE { north: 5.0976557826269 m^1, east: -0.9102973528765338 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.0976557826269 m^1, east: -1.7704330474302554 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, end: PositionNE { north: -5.0976507271063 m^1, east: -1.7704330474302554 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.0976507271063 m^1, east: -2.630568741983977 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, end: PositionNE { north: 5.0976557826269 m^1, east: -2.630568741983977 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.0976557826269 m^1, east: -3.490704436537699 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, end: PositionNE { north: -5.0976507271063 m^1, east: -3.490704436537699 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.0976507271063 m^1, east: -4.35084013109142 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, end: PositionNE { north: 5.0976557826269 m^1, east: -4.35084013109142 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }] 11:17:28.369 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:17:28.369 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:28.369 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:28.374 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-17-25_surveyArea/photos/mocked_image_0.raw" 11:17:28.376 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:28.377 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:28.545 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:28.545 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:28.668 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:28.669 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:28.857 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:28.862 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:28.994 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:28.996 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:29.024 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:17:29.148 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:29.150 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:29.172 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:29.172 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:29.282 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:29.283 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:29.327 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:29.329 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:29.387 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:29.388 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:29.502 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:29.502 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:29.511 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:29.514 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:29.622 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:29.622 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:29.713 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:29.714 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:29.738 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:29.739 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:29.849 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 359.86Hz 11:17:29.851 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:29.851 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:29.883 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:29.884 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:29.953 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:29.953 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:30.040 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:30.042 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:30.056 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:30.056 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:30.171 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:30.171 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:30.205 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:30.206 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:30.247 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:30.247 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:30.362 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:30.364 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:30.370 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:30.370 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:30.463 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-17-25_surveyArea/photos/mocked_image_13.raw" 11:17:30.463 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:30.463 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:30.535 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:30.536 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:30.576 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:30.576 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:30.701 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:30.703 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:30.717 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:30.719 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:30.823 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:30.823 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:30.884 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:30.885 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:30.935 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:30.935 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:31.048 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:31.048 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:31.085 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:31.086 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:31.197 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:31.197 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:31.274 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:17:31.299 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:31.300 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:31.428 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:31.429 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:31.477 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:31.479 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:31.596 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:17:31.633 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:31.637 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:31.642 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:31.643 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:31.786 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:31.786 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:31.818 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:31.818 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:31.892 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:31.892 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:31.997 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:31.997 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:31.997 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:31.997 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:32.094 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:32.094 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:32.169 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:32.170 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:32.196 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:32.197 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:32.305 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:32.305 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:32.353 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:32.354 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:32.404 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:32.404 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:32.515 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:32.517 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-17-25_surveyArea/photos/mocked_image_29.raw" 11:17:32.518 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:32.518 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:32.520 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:32.624 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:32.624 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:32.696 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:32.697 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:32.724 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:32.725 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:32.842 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:32.842 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:32.859 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:32.860 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:32.966 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:32.966 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:33.069 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:33.069 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:33.092 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:33.092 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:33.184 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:33.184 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:33.224 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:33.225 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:33.290 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:33.292 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:33.383 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:33.384 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:33.395 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:33.396 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:33.535 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:33.537 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:33.617 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:33.621 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:33.679 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:33.680 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:33.801 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:33.802 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:33.802 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:33.803 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:33.933 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:17:33.946 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:33.947 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:34.024 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:34.025 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:34.148 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:34.148 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:34.178 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:34.180 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:34.265 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:17:34.351 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:34.352 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:34.403 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:34.403 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:34.508 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:34.509 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:34.528 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:34.531 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:34.610 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:34.611 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-17-25_surveyArea/photos/mocked_image_45.raw" 11:17:34.612 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:34.690 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:34.691 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:34.709 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:34.709 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:34.824 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:34.824 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:34.850 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 280.85Hz 11:17:34.885 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:34.889 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:34.964 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:34.964 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:35.082 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:35.082 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:35.102 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:35.107 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:35.183 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:35.183 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:35.260 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:35.262 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:35.303 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:35.303 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:35.415 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:35.415 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:35.445 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:35.446 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:35.522 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:35.522 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:35.612 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:35.614 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:35.626 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:35.626 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:35.749 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:35.749 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:35.787 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:35.788 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:35.858 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:35.858 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:35.982 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:35.984 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:35.987 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:35.987 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:36.092 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:36.092 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:36.144 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:36.144 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:36.185 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:36.185 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:36.301 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:36.301 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:36.305 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:36.306 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:36.402 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:36.402 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:36.477 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:36.481 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:36.522 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:36.522 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:36.552 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:17:36.691 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:36.692 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:36.786 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-17-25_surveyArea/photos/mocked_image_63.raw" 11:17:36.786 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:36.790 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:36.882 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:36.890 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:36.946 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:17:37.104 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:17:37.105 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:17:37.120 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:37.120 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:37.256 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:17:37.256 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:17:37.297 ERROR [robot_code/robot_core/path_planning/src/path_planner_manager.rs:143] Failed to send control goal: sending on a full channel 11:17:37.298 ERROR [robot_code/robot_core/path_planning/src/lib.rs:486] Failed path planner manager navigation: Error sending/receiving messages from control: sending on a full channel 11:17:37.298 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: CancelledGoals([Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))], ControlConnectionFailure("sending on a full channel")) 11:17:37.301 ERROR [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:532] Goal cancelled because: 'Error sending/receiving messages from control: sending on a full channel' 11:17:37.302 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:17:37.302 INFO [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:148] Aborting task: Path planner error: 'Error sending/receiving messages from control: sending on a full channel' 11:17:37.302 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:17:37.303 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:17:37.303 WARN [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:599] Expected goal to be cancelled: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084104849715529 0.0762795301030616,0.9084120528274957 0.0762795301030616,0.9084120528274957 0.07628207946529048,0.9084104849715529 0.07628207946529048,0.9084104849715529 0.0762795301030616)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), but it is not in list of cancelled goals: [] 11:17:37.303 WARN [robot_code/peripherals/payload/src/lib.rs:98] Payload session was dropped without being stopped, stopping it now 11:17:37.303 WARN [robot_code/robot_core/task_scheduler/src/executor/active.rs:403] Active task aborted: Task(type: SurveyArea, name: 'surveyArea', id: d8ad717a-0a4b-4547-8e85-fe3b63858b79) 11:17:37.303 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: AbortTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: d8ad717a-0a4b-4547-8e85-fe3b63858b79)"), mode: None } 11:17:37.304 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:17:37.304 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:17:37.304 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:17:37.304 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'WaitingHold', id: 9dddbb4b-364b-474b-8fde-fdf0832bc35c)"), mode: None } 11:17:37.304 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:17:37.304 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-17-25_surveyArea") 11:17:37.305 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started) 11:17:37.306 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-17-37_WaitingHold/2025-08-14_11-17-37_WaitingHold_rust.log" 11:17:37.306 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-17-37_WaitingHold 11:17:37.307 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'WaitingHold' 11:17:37.308 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:17:37.309 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 4.061376761602143 m^1, east: 1.6368740725639688 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:17:37.309 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Preparing) 11:17:37.309 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:17:37.309 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 4.0692534640122835 m^1, east: 1.6372416467529274 m^1, down: 8.99986874729364 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084112688995254, lon: 0.07628080478417604 }), update_count: 5 } } 11:17:37.310 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:17:39.850 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 878.97Hz 11:17:40.060 ERROR [robot_code/robot_core/path_planning/src/path_planner_manager.rs:143] Failed to send control goal: sending on a full channel 11:17:40.060 ERROR [robot_code/robot_core/path_planning/src/lib.rs:465] Failed path planner manager preparation: Error sending/receiving messages from control: sending on a full channel 11:17:40.061 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: CancelledGoals([Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))], ControlConnectionFailure("sending on a full channel")) 11:17:40.064 ERROR [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:532] Goal cancelled because: 'Error sending/receiving messages from control: sending on a full channel' 11:17:40.064 INFO [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:148] Aborting task: Path planner error: 'Error sending/receiving messages from control: sending on a full channel' 11:17:40.065 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:17:40.065 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:17:40.066 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:17:40.067 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-17-37_WaitingHold") 11:17:40.067 WARN [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:599] Expected goal to be cancelled: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), but it is not in list of cancelled goals: [] 11:17:40.067 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("ErrorMode(error:'Waiting hold got error during update')") } 11:17:40.067 WARN [robot_code/robot_core/task_scheduler/src/executor/error.rs:72] Executor in ErrorMode with error 'Waiting hold got error during update' 11:17:40.067 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:17:40.067 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:42] Path planner stopped successfully 11:17:40.067 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("IdleMode") } 11:17:40.068 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:76] Executor in ErrorMode, but deactivated successfully 11:17:44.849 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2503.59Hz 11:17:49.849 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 3002.41Hz 11:17:54.849 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2855.69Hz 11:17:59.850 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2002.57Hz 11:18:04.849 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 3390.31Hz 11:18:09.849 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2566.07Hz 11:18:14.849 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 898.60Hz 11:18:19.849 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1358.27Hz 11:18:24.849 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 3672.92Hz 11:18:29.849 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 619.40Hz 11:18:34.849 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2778.50Hz 11:18:39.850 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2217.37Hz 11:18:44.850 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 793.01Hz 11:18:49.850 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 842.33Hz 11:18:54.850 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 808.25Hz 11:18:59.850 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1333.90Hz 11:19:04.866 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 54.02Hz 11:19:09.865 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1275.89Hz 11:19:14.865 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 107.33Hz 11:19:19.866 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1173.56Hz 11:19:24.865 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1029.35Hz 11:19:29.868 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 87.86Hz 11:19:34.874 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 143.34Hz 11:19:39.874 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 561.65Hz 11:19:44.875 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 957.31Hz 11:19:49.874 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 3529.14Hz 11:19:54.874 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1303.24Hz 11:19:59.874 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 3382.50Hz 11:20:04.875 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 496.60Hz 11:20:09.876 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 969.86Hz 11:20:14.876 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 769.57Hz 11:20:19.875 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1871.19Hz 11:20:24.875 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2683.22Hz 11:20:29.876 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 3940.06Hz 11:20:34.875 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 3120.59Hz 11:20:39.876 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 574.24Hz 11:20:44.876 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1004.37Hz 11:20:49.879 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 286.93Hz 11:20:54.879 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 3885.91Hz 11:20:59.880 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 503.72Hz 11:21:04.881 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 670.38Hz 11:21:09.881 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2181.86Hz 11:21:14.882 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 449.75Hz 11:21:19.888 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 121.88Hz 11:21:24.887 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2058.01Hz 11:21:29.887 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1584.06Hz 11:21:34.887 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 3942.24Hz 11:21:39.887 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 860.00Hz 11:21:42.259 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 77.232 degrees 11:21:42.259 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.586 degrees 11:21:42.260 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 64.457 degrees 11:21:44.887 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1733.58Hz 11:21:49.887 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1345.84Hz 11:21:54.887 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 3204.01Hz 11:21:59.887 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 3681.48Hz 11:22:04.887 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2127.56Hz 11:22:09.887 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1781.08Hz 11:22:14.888 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1179.67Hz 11:22:19.887 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1488.52Hz 11:22:24.887 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1558.28Hz 11:22:29.887 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 3200.52Hz 11:22:34.887 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2481.36Hz 11:22:39.887 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2167.10Hz 11:22:41.547 INFO [robot_code/utilities/simulator/src/simulator.rs:326] Simulator dropped: Simulator() 11:22:41.554 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'path_planner' stopped 11:22:41.559 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'task_scheduler' stopped 11:22:41.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 11:22:41.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped 11:22:41.574 INFO [robot_code/robot_core/launch/src/lib.rs:432] Joined thread 'state_estimator' 11:22:41.575 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'control' 11:22:41.575 INFO [robot_code/robot_core/launch/src/lib.rs:432] Joined thread 'control' 11:22:41.575 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'simulator' 11:22:41.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 11:22:41.719 INFO [robot_code/robot_core/launch/src/lib.rs:432] Joined thread 'simulator' 11:22:41.719 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'path_planner' 11:22:41.719 INFO [robot_code/robot_core/launch/src/lib.rs:432] Joined thread 'path_planner' 11:22:41.719 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'task_scheduler' 11:22:41.719 INFO [robot_code/robot_core/launch/src/lib.rs:432] Joined thread 'task_scheduler' 11:22:41.719 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'lora_module' 11:22:41.735 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 11:22:44.032 INFO [robot_code/utilities/logging/src/logging.rs:133] ================================================================================ 11:22:44.032 INFO [robot_code/utilities/logging/src/logging.rs:134] Starting new Rust log session at 2025-08-14 11:22:44.032346591 +02:00 11:22:44.032 INFO [robot_code/utilities/logging/src/logging.rs:135] ================================================================================ 11:22:44.032 DEBUG [robot_code/utilities/logging/src/logging.rs:136] 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_settings": 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_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_usbl_driver": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Trace, 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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 11:22:44.032 INFO [robot_code/utilities/logging/src/logging.rs:139] Logging to "/home/joris/Desktop/data_root" 11:22:44.032 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-22-44_simulated_scout.lobsterlog") 11:22:44.038 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 11:22:44.181 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 11:22:44.181 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:22:44.182 INFO [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, 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] } 11:22:44.469 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 11:22:44.470 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:22:45.538 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 11:22:45.538 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:22:45.538 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 11:22:45.539 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 11:22:45.539 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 11:22:45.540 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 11:22:45.540 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 11:22:45.540 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 11:22:45.540 WARN [robot_code/robot_core/launch/src/lib.rs:439] IMU not enabled 11:22:45.540 WARN [robot_code/robot_core/launch/src/lib.rs:449] Magnetometer not enabled 11:22:45.540 WARN [robot_code/robot_core/launch/src/lib.rs:494] Nortek DVL not enabled 11:22:45.540 WARN [robot_code/robot_core/launch/src/lib.rs:475] GPS not enabled 11:22:45.540 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 11:22:45.540 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:22:45.540 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 11:22:45.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 11:22:45.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 11:22:45.542 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 11:22:45.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 11:22:45.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 11:22:45.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 39839 11:22:45.543 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 11:22:45.543 DEBUG [robot_code/peripherals/actuation/src/lib.rs:187] Started simulated thruster module 11:22:45.543 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 11:22:45.544 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 11:22:45.546 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 11:22:45.547 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 11:22:45.547 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 11:22:45.547 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 11:22:45.548 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 11:22:45.548 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 11:22:45.548 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 11:22:45.548 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 11:22:45.549 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 11:22:45.549 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 11:22:45.549 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 11:22:45.550 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 11:22:45.551 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 11:22:45.552 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 11:22:45.553 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 11:22:45.553 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 11:22:45.554 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 11:22:45.554 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 11:22:45.554 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 11:22:45.555 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 11:22:45.555 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 11:22:45.556 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 11:22:45.556 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 11:22:45.556 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 11:22:45.557 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 11:22:45.558 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 11:22:45.558 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:22:45.558 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 11:22:45.558 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 11:22:45.558 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 11:22:45.558 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 39868 11:22:45.558 INFO [robot_code/robot_core/control/src/control_safety.rs:101] Control starting... 11:22:45.558 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Starting at 0.02 11:22:45.558 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 11:22:45.558 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 11:22:45.558 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 11:22:45.559 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 39869 11:22:45.589 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 11:22:45.757 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 11:22:45.757 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 11:22:45.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 11:22:45.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 11:22:45.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 39871 11:22:45.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 11:22:45.759 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 11:22:45.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 11:22:45.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 11:22:45.760 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 39873 11:22:45.760 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 11:22:45.761 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 11:22:45.761 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 11:22:45.761 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 11:22:45.761 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 11:22:45.761 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 11:22:45.761 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 39911 11:22:45.761 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 11:22:45.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 11:22:45.762 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 11:22:45.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 11:22:45.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 11:22:45.762 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 11:22:45.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 11:22:45.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 11:22:45.763 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 11:22:45.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 11:22:45.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 39916 11:22:45.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 11:22:45.763 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 11:22:45.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 11:22:45.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 39917 11:22:45.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 11:22:45.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 39918 11:22:45.778 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:22:45.778 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 11:22:45.782 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 11:22:45.782 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 11:22:45.782 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 11:22:45.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 11:22:45.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 11:22:45.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 39920 11:22:45.783 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 11:22:45.783 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 11:22:45.783 INFO [robot_code/robot_core/launch/src/lib.rs:418] Waiting until code stops running so threads can be joined 11:22:45.783 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'state_estimator' 11:22:45.830 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:22:45.838 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:22:45.838 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:22:46.010 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:22:46.010 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {} 11:22:46.010 INFO [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings 11:22:46.019 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:22:46.019 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:22:46.884 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:22:46.884 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:22:54.889 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:22:54.889 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: AddTask(SurveyArea: 'surveyArea') 11:23:01.608 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: Engage 11:23:01.609 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 11:23:01.628 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 11:23:01.668 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:23:01.668 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [DirectControl(ControlGoalWithMeta { id: 7bc56e85-a170-419f-9e7e-11d71f52eabb, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:23:01.668 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 7bc56e85-a170-419f-9e7e-11d71f52eabb, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:23:01.678 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 7bc56e85-a170-419f-9e7e-11d71f52eabb, start_time: Some(15.8 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started) 11:23:01.678 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:23:01.678 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SimpleGoal, name: 'Upright task', id: 61c49fa6-5c79-474e-a0d8-4218bd7822f1)"), mode: None } 11:23:01.679 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-23-01_Upright task/2025-08-14_11-23-01_Upright task_rust.log" 11:23:01.679 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-23-01_Upright task 11:23:01.699 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09148603391498013, Enable control depth: 0.2, Depth control enabled: true 11:23:01.699 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 7bc56e85-a170-419f-9e7e-11d71f52eabb, start_time: Some(15.8 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished) 11:23:01.699 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:23:01.699 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:23:01.699 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09148603391498013 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:23:01.709 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 7bc56e85-a170-419f-9e7e-11d71f52eabb, start_time: Some(15.8 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }) 11:23:01.729 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:23:01.729 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:23:01.749 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 }))] 11:23:01.749 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 }))] 11:23:01.749 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 })), Started) 11:23:01.749 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:23:01.749 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 } 11:23:01.749 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: MoveTo, name: 'move to start of 'surveyArea'', id: e46be380-14fe-4ce1-a1af-90aaecbd7ff6)"), mode: None } 11:23:01.749 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-23-01_Upright task") 11:23:01.749 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-23-01_move to start of \'surveyArea\'/2025-08-14_11-23-01_move to start of \'surveyArea\'_rust.log" 11:23:01.750 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-23-01_move to start of 'surveyArea' 11:23:01.750 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:553] Starting task 'move to start of 'surveyArea'', to prepare for SurveyArea task 'surveyArea' 11:23:01.779 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09372535769606845, Enable control depth: 0.2, Depth control enabled: true 11:23:01.780 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -5.217914076022614 m^1, east: -3.1387265860000126 m^1, down: 0.09372535769606845 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), update_count: 1 } } 11:23:01.780 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), update_count: 1 } }), hold_duration: None } }] 11:23:01.780 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 11:23:01.780 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 }) 11:23:01.780 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:23:01.780 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:23:01.789 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 })) 11:23:02.635 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20498586876187375, Enable control depth: 0.2, Depth control enabled: false 11:23:02.635 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:23:04.184 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 11:23:06.578 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:23:06.578 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:23:06.578 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 }) 11:23:06.598 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 })) 11:23:08.609 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:23:08.630 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 })) 11:23:10.641 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:23:10.661 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 })) 11:23:12.693 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:23:12.712 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 })) 11:23:14.726 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 })) 11:23:14.726 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084130513139188, lon: 0.07626999385263523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:23:16.014 INFO [robot_code/utilities/simulator/src/simulator.rs:326] Simulator dropped: Simulator() 11:23:16.098 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 11:23:16.139 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 11:23:16.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 11:23:16.773 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped 11:23:16.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_state_publisher' stopped 11:23:16.821 INFO [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server 11:23:17.995 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping... 11:23:17.996 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped 11:23:17.996 INFO [robot_code/robot_core/launch/src/lib.rs:432] Joined thread 'state_estimator' 11:23:17.996 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'control' 11:23:17.996 INFO [robot_code/robot_core/launch/src/lib.rs:432] Joined thread 'control' 11:23:17.996 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'simulator' 11:23:17.996 INFO [robot_code/robot_core/launch/src/lib.rs:432] Joined thread 'simulator' 11:23:17.996 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'path_planner' 11:23:26.787 WARN [robot_code/robot_core/launch/src/lib.rs:413] Not stopped after 10 seconds, aborting program 11:24:40.320 INFO [robot_code/utilities/logging/src/logging.rs:133] ================================================================================ 11:24:40.320 INFO [robot_code/utilities/logging/src/logging.rs:134] Starting new Rust log session at 2025-08-14 11:24:40.320792363 +02:00 11:24:40.320 INFO [robot_code/utilities/logging/src/logging.rs:135] ================================================================================ 11:24:40.320 DEBUG [robot_code/utilities/logging/src/logging.rs:136] 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_settings": 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_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_usbl_driver": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Trace, 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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 11:24:40.320 INFO [robot_code/utilities/logging/src/logging.rs:139] Logging to "/home/joris/Desktop/data_root" 11:24:40.320 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-24-40_simulated_scout.lobsterlog") 11:24:40.338 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 11:24:40.499 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 2, scout_2_battery_module to robot model with POI: Some({}) 11:24:40.499 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 1, scout_2_ultramodule to robot model with POI: Some({"gps_location": [0.029907, 0.0, -0.348234], "camera_location": [0.118, 0.0, 0.0066], "left_forward_thruster_location": [0.058986, -0.223435, 0.129], "left_sideward_thruster_location": [0.126, -0.126565, 0.072784], "usbl_modem_location": [0.269, 0.0, -0.117049], "ps_location": [0.230269, 0.0, 0.08325], "imu_location": [0.276531, 0.02379, -0.065106], "dvl_location": [0.275, 0.0, 0.0295], "right_forward_thruster_location": [0.058986, 0.223435, 0.129], "right_sideward_thruster_location": [0.126, 0.126315, 0.073216], "top_forward_thruster_location": [0.058986, 0.0, -0.258], "top_sideward_thruster_location": [0.126, 0.00025, -0.146]}) 11:24:40.499 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_2_nosecone_waterlinked_sonar to robot model with POI: Some({"sonar_location": [0.5048, 0.0, -0.009587], "nosecone_ultrastrobe": [0.315, 0.0, 0.0724]}) 11:24:40.499 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 49.167 kg, total length: 1.905 m, dvl location: Some(Vec3 { x: 0.22559344200513598, y: -0.0008443246986694718, z: 0.03019914992065807 }) volume: 0.05069 11:24:40.501 INFO [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, scout_model: Scout3, sea_floor_depth: 10.0, 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] } 11:24:40.955 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 2, scout_2_battery_module to robot model with POI: Some({}) 11:24:40.956 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 1, scout_2_ultramodule to robot model with POI: Some({"gps_location": [0.029907, 0.0, -0.348234], "camera_location": [0.118, 0.0, 0.0066], "left_forward_thruster_location": [0.058986, -0.223435, 0.129], "left_sideward_thruster_location": [0.126, -0.126565, 0.072784], "usbl_modem_location": [0.269, 0.0, -0.117049], "ps_location": [0.230269, 0.0, 0.08325], "imu_location": [0.276531, 0.02379, -0.065106], "dvl_location": [0.275, 0.0, 0.0295], "right_forward_thruster_location": [0.058986, 0.223435, 0.129], "right_sideward_thruster_location": [0.126, 0.126315, 0.073216], "top_forward_thruster_location": [0.058986, 0.0, -0.258], "top_sideward_thruster_location": [0.126, 0.00025, -0.146]}) 11:24:40.956 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_2_nosecone_waterlinked_sonar to robot model with POI: Some({"sonar_location": [0.5048, 0.0, -0.009587], "nosecone_ultrastrobe": [0.315, 0.0, 0.0724]}) 11:24:40.956 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 49.167 kg, total length: 1.905 m, dvl location: Some(Vec3 { x: 0.22559344200513598, y: -0.0008443246986694718, z: 0.03019914992065807 }) volume: 0.05069 11:24:42.200 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 2, scout_2_battery_module to robot model with POI: Some({}) 11:24:42.200 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 1, scout_2_ultramodule to robot model with POI: Some({"gps_location": [0.029907, 0.0, -0.348234], "camera_location": [0.118, 0.0, 0.0066], "left_forward_thruster_location": [0.058986, -0.223435, 0.129], "left_sideward_thruster_location": [0.126, -0.126565, 0.072784], "usbl_modem_location": [0.269, 0.0, -0.117049], "ps_location": [0.230269, 0.0, 0.08325], "imu_location": [0.276531, 0.02379, -0.065106], "dvl_location": [0.275, 0.0, 0.0295], "right_forward_thruster_location": [0.058986, 0.223435, 0.129], "right_sideward_thruster_location": [0.126, 0.126315, 0.073216], "top_forward_thruster_location": [0.058986, 0.0, -0.258], "top_sideward_thruster_location": [0.126, 0.00025, -0.146]}) 11:24:42.200 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_2_nosecone_waterlinked_sonar to robot model with POI: Some({"sonar_location": [0.5048, 0.0, -0.009587], "nosecone_ultrastrobe": [0.315, 0.0, 0.0724]}) 11:24:42.200 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 49.167 kg, total length: 1.905 m, dvl location: Some(Vec3 { x: 0.22559344200513598, y: -0.0008443246986694718, z: 0.03019914992065807 }) volume: 0.05069 11:24:42.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 11:24:42.201 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 11:24:42.202 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 11:24:42.202 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 11:24:42.202 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 11:24:42.203 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 11:24:42.203 WARN [robot_code/robot_core/launch/src/lib.rs:439] IMU not enabled 11:24:42.203 WARN [robot_code/robot_core/launch/src/lib.rs:449] Magnetometer not enabled 11:24:42.203 WARN [robot_code/robot_core/launch/src/lib.rs:494] Nortek DVL not enabled 11:24:42.203 WARN [robot_code/robot_core/launch/src/lib.rs:475] GPS not enabled 11:24:42.203 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 2, scout_2_battery_module to robot model with POI: Some({}) 11:24:42.203 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 1, scout_2_ultramodule to robot model with POI: Some({"gps_location": [0.029907, 0.0, -0.348234], "camera_location": [0.118, 0.0, 0.0066], "left_forward_thruster_location": [0.058986, -0.223435, 0.129], "left_sideward_thruster_location": [0.126, -0.126565, 0.072784], "usbl_modem_location": [0.269, 0.0, -0.117049], "ps_location": [0.230269, 0.0, 0.08325], "imu_location": [0.276531, 0.02379, -0.065106], "dvl_location": [0.275, 0.0, 0.0295], "right_forward_thruster_location": [0.058986, 0.223435, 0.129], "right_sideward_thruster_location": [0.126, 0.126315, 0.073216], "top_forward_thruster_location": [0.058986, 0.0, -0.258], "top_sideward_thruster_location": [0.126, 0.00025, -0.146]}) 11:24:42.203 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_2_nosecone_waterlinked_sonar to robot model with POI: Some({"sonar_location": [0.5048, 0.0, -0.009587], "nosecone_ultrastrobe": [0.315, 0.0, 0.0724]}) 11:24:42.203 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 49.167 kg, total length: 1.905 m, dvl location: Some(Vec3 { x: 0.22559344200513598, y: -0.0008443246986694718, z: 0.03019914992065807 }) volume: 0.05069 11:24:42.203 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 11:24:42.204 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 11:24:42.206 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 11:24:42.208 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 11:24:42.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 11:24:42.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 11:24:42.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 44517 11:24:42.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 11:24:42.209 DEBUG [robot_code/peripherals/actuation/src/lib.rs:187] Started simulated thruster module 11:24:42.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 11:24:42.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 11:24:42.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 11:24:42.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 11:24:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 11:24:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 11:24:42.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 11:24:42.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 11:24:42.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 11:24:42.213 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 11:24:42.213 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 11:24:42.213 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 11:24:42.214 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 11:24:42.214 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 11:24:42.216 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 11:24:42.216 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 11:24:42.217 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 11:24:42.217 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 11:24:42.218 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 11:24:42.219 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 11:24:42.221 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 11:24:42.222 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 11:24:42.223 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 11:24:42.224 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 11:24:42.225 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 11:24:42.225 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 11:24:42.226 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 11:24:42.227 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 2, scout_2_battery_module to robot model with POI: Some({}) 11:24:42.227 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 1, scout_2_ultramodule to robot model with POI: Some({"gps_location": [0.029907, 0.0, -0.348234], "camera_location": [0.118, 0.0, 0.0066], "left_forward_thruster_location": [0.058986, -0.223435, 0.129], "left_sideward_thruster_location": [0.126, -0.126565, 0.072784], "usbl_modem_location": [0.269, 0.0, -0.117049], "ps_location": [0.230269, 0.0, 0.08325], "imu_location": [0.276531, 0.02379, -0.065106], "dvl_location": [0.275, 0.0, 0.0295], "right_forward_thruster_location": [0.058986, 0.223435, 0.129], "right_sideward_thruster_location": [0.126, 0.126315, 0.073216], "top_forward_thruster_location": [0.058986, 0.0, -0.258], "top_sideward_thruster_location": [0.126, 0.00025, -0.146]}) 11:24:42.227 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_2_nosecone_waterlinked_sonar to robot model with POI: Some({"sonar_location": [0.5048, 0.0, -0.009587], "nosecone_ultrastrobe": [0.315, 0.0, 0.0724]}) 11:24:42.227 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 49.167 kg, total length: 1.905 m, dvl location: Some(Vec3 { x: 0.22559344200513598, y: -0.0008443246986694718, z: 0.03019914992065807 }) volume: 0.05069 11:24:42.227 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 11:24:42.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 11:24:42.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 11:24:42.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 44546 11:24:42.227 INFO [robot_code/robot_core/control/src/control_safety.rs:101] Control starting... 11:24:42.227 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Starting at 0.02 11:24:42.227 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 11:24:42.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 11:24:42.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 11:24:42.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 44547 11:24:42.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 11:24:42.521 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 11:24:42.521 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 11:24:42.521 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 11:24:42.521 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 11:24:42.522 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 44550 11:24:42.522 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1375.26Hz 11:24:42.522 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 11:24:42.524 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 11:24:42.524 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 11:24:42.524 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 11:24:42.524 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 44552 11:24:42.524 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 11:24:42.527 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 11:24:42.527 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 11:24:42.527 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 11:24:42.527 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 11:24:42.527 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 11:24:42.527 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 44590 11:24:42.527 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 11:24:42.527 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 11:24:42.528 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 11:24:42.528 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 11:24:42.529 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 11:24:42.529 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 11:24:42.529 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 11:24:42.529 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 11:24:42.529 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 11:24:42.529 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 11:24:42.530 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 44595 11:24:42.530 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 11:24:42.530 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 11:24:42.530 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 11:24:42.530 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 11:24:42.530 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 44596 11:24:42.530 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 11:24:42.531 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 44597 11:24:42.531 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:24:42.541 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 11:24:42.542 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 11:24:42.542 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 11:24:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 11:24:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 11:24:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 44599 11:24:42.543 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 11:24:42.543 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 11:24:42.543 INFO [robot_code/robot_core/launch/src/lib.rs:418] Waiting until code stops running so threads can be joined 11:24:42.543 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'state_estimator' 11:24:42.588 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:24:42.588 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:24:42.588 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:24:42.815 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:24:42.816 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {} 11:24:42.816 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:24:42.816 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:24:42.816 INFO [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings 11:24:47.522 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 4443.54Hz 11:24:49.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:24:49.299 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: AddTask(SurveyArea: 'surveyArea') 11:24:52.500 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: Engage 11:24:52.500 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 11:24:52.500 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 11:24:52.501 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:24:52.501 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 79104058-de4b-4b2f-8f39-d213cd796dc7, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:24:52.501 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [DirectControl(ControlGoalWithMeta { id: 79104058-de4b-4b2f-8f39-d213cd796dc7, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:24:52.501 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 79104058-de4b-4b2f-8f39-d213cd796dc7, start_time: Some(595.66 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started) 11:24:52.501 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:24:52.502 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SimpleGoal, name: 'Upright task', id: a8031964-0a5a-4ef4-b2c4-9f6d53e52344)"), mode: None } 11:24:52.502 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09457440227503323, Enable control depth: 0.2, Depth control enabled: true 11:24:52.502 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 79104058-de4b-4b2f-8f39-d213cd796dc7, start_time: Some(595.66 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished) 11:24:52.503 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:24:52.503 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09457440227503323 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:24:52.503 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-24-52_Upright task/2025-08-14_11-24-52_Upright task_rust.log" 11:24:52.503 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:24:52.503 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-24-52_Upright task 11:24:52.503 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 79104058-de4b-4b2f-8f39-d213cd796dc7, start_time: Some(595.66 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }) 11:24:52.504 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SurveyArea task 'surveyArea' 11:24:52.505 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:24:52.505 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:24:52.505 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120992802519 0.07626885230035238,0.9084124128514405 0.07626885230035238,0.9084124128514405 0.0762693621734428,0.9084120992802519 0.0762693621734428,0.9084120992802519 0.07626885230035238)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:24:52.505 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120992802519 0.07626885230035238,0.9084124128514405 0.07626885230035238,0.9084124128514405 0.0762693621734428,0.9084120992802519 0.0762693621734428,0.9084120992802519 0.07626885230035238)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:24:52.506 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120992802519 0.07626885230035238,0.9084124128514405 0.07626885230035238,0.9084124128514405 0.0762693621734428,0.9084120992802519 0.0762693621734428,0.9084120992802519 0.07626885230035238)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started) 11:24:52.506 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:24:52.506 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 5f3f5dd7-c7ec-40ff-b708-4a17163825be)"), mode: None } 11:24:52.506 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-24-52_Upright task") 11:24:52.507 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-24-52_surveyArea/2025-08-14_11-24-52_surveyArea_rust.log" 11:24:52.507 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-24-52_surveyArea 11:24:52.508 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09434091353924119, Enable control depth: 0.2, Depth control enabled: true 11:24:52.508 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:24:52.508 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -0.8714848043317796 m^1, east: -0.18432685142370264 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -0.8714848043317796 m^1, east: -0.18432685142370264 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 0.4 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:24:52.508 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:24:52.508 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120992802519 0.07626885230035238,0.9084124128514405 0.07626885230035238,0.9084124128514405 0.0762693621734428,0.9084120992802519 0.0762693621734428,0.9084120992802519 0.07626885230035238)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:24:52.508 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120992802519 0.07626885230035238,0.9084124128514405 0.07626885230035238,0.9084124128514405 0.0762693621734428,0.9084120992802519 0.0762693621734428,0.9084120992802519 0.07626885230035238)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing) 11:24:52.509 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 8.876391156304334e-11 m^1, east: 6.928819649834174e-7 m^1, down: 0.09434091353924119 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:24:52.509 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120992802519 0.07626885230035238,0.9084124128514405 0.07626885230035238,0.9084124128514405 0.0762693621734428,0.9084120992802519 0.0762693621734428,0.9084120992802519 0.07626885230035238)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:24:52.522 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1226.47Hz 11:24:52.547 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20014818729901585, Enable control depth: 0.2, Depth control enabled: false 11:24:52.548 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:24:52.621 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 11:24:52.711 ERROR [robot_code/robot_core/path_planning/src/path_planner_manager.rs:143] Failed to send control goal: sending on a full channel 11:24:52.711 ERROR [robot_code/robot_core/path_planning/src/lib.rs:465] Failed path planner manager preparation: Error sending/receiving messages from control: sending on a full channel 11:24:52.711 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: CancelledGoals([Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120992802519 0.07626885230035238,0.9084124128514405 0.07626885230035238,0.9084124128514405 0.0762693621734428,0.9084120992802519 0.0762693621734428,0.9084120992802519 0.07626885230035238)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))], ControlConnectionFailure("sending on a full channel")) 11:24:52.712 ERROR [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:532] Goal cancelled because: 'Error sending/receiving messages from control: sending on a full channel' 11:24:52.713 INFO [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:148] Aborting task: Path planner error: 'Error sending/receiving messages from control: sending on a full channel' 11:24:52.713 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:24:52.713 WARN [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:599] Expected goal to be cancelled: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120992802519 0.07626885230035238,0.9084124128514405 0.07626885230035238,0.9084124128514405 0.0762693621734428,0.9084120992802519 0.0762693621734428,0.9084120992802519 0.07626885230035238)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), but it is not in list of cancelled goals: [] 11:24:52.713 WARN [robot_code/peripherals/payload/src/lib.rs:98] Payload session was dropped without being stopped, stopping it now 11:24:52.713 WARN [robot_code/robot_core/task_scheduler/src/executor/active.rs:403] Active task aborted: Task(type: SurveyArea, name: 'surveyArea', id: 5f3f5dd7-c7ec-40ff-b708-4a17163825be) 11:24:52.713 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:24:52.714 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:24:52.714 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: AbortTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 5f3f5dd7-c7ec-40ff-b708-4a17163825be)"), mode: None } 11:24:52.714 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:24:52.715 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:24:52.715 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started) 11:24:52.715 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-24-52_surveyArea") 11:24:52.715 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:24:52.715 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'WaitingHold', id: b4f667e4-3f6c-4d24-81a6-683979f809e8)"), mode: None } 11:24:52.716 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-24-52_WaitingHold/2025-08-14_11-24-52_WaitingHold_rust.log" 11:24:52.716 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-24-52_WaitingHold 11:24:52.716 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'WaitingHold' 11:24:52.717 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.028375058672765244 m^1, east: -0.014753678836549896 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:24:52.718 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Preparing) 11:24:52.718 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:24:52.718 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.028357560692516905 m^1, east: -0.014722893509878323 m^1, down: 0.9263383653968471 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:24:52.718 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:24:52.719 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:52.875 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.19670683879509987, Enable control depth: 0.2, Depth control enabled: true 11:24:52.875 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:24:52.920 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.028375058672765244 m^1, east: -0.014753678836549896 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }] 11:24:52.920 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:52.920 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:24:52.921 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:53.009 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:53.010 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:53.081 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:53.082 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:53.149 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:53.152 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:53.158 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (149.00) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.159 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (5.60) within bounds again, disabling safety fallback mode! 11:24:53.162 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (151.43) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.165 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (5.14) within bounds again, disabling safety fallback mode! 11:24:53.167 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (151.94) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.169 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (4.87) within bounds again, disabling safety fallback mode! 11:24:53.171 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (156.38) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.172 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (4.30) within bounds again, disabling safety fallback mode! 11:24:53.173 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (156.81) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.176 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (3.89) within bounds again, disabling safety fallback mode! 11:24:53.179 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (161.07) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.180 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (3.22) within bounds again, disabling safety fallback mode! 11:24:53.186 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (161.43) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.190 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (2.67) within bounds again, disabling safety fallback mode! 11:24:53.193 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (165.54) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.194 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (2.06) within bounds again, disabling safety fallback mode! 11:24:53.196 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (167.77) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.197 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (1.26) within bounds again, disabling safety fallback mode! 11:24:53.201 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (169.83) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.203 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (0.44) within bounds again, disabling safety fallback mode! 11:24:53.204 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (170.09) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.206 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-0.28) within bounds again, disabling safety fallback mode! 11:24:53.207 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (173.98) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.208 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-1.16) within bounds again, disabling safety fallback mode! 11:24:53.210 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (174.21) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.212 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-1.96) within bounds again, disabling safety fallback mode! 11:24:53.213 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (178.01) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.213 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-2.89) within bounds again, disabling safety fallback mode! 11:24:53.214 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (178.21) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.216 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-3.76) within bounds again, disabling safety fallback mode! 11:24:53.217 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (178.09) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.218 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-4.76) within bounds again, disabling safety fallback mode! 11:24:53.220 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (177.93) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.222 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-5.71) within bounds again, disabling safety fallback mode! 11:24:53.224 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (174.34) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.225 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-6.76) within bounds again, disabling safety fallback mode! 11:24:53.226 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (174.21) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.229 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-7.78) within bounds again, disabling safety fallback mode! 11:24:53.232 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (170.71) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.234 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-8.89) within bounds again, disabling safety fallback mode! 11:24:53.237 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (170.61) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.239 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-9.97) within bounds again, disabling safety fallback mode! 11:24:53.241 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (167.19) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.241 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-11.12) within bounds again, disabling safety fallback mode! 11:24:53.243 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (165.48) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.248 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-13.40) within bounds again, disabling safety fallback mode! 11:24:53.249 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (165.31) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.252 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-14.51) within bounds again, disabling safety fallback mode! 11:24:53.253 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (160.27) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.254 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-15.64) within bounds again, disabling safety fallback mode! 11:24:53.256 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (160.16) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.258 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-16.68) within bounds again, disabling safety fallback mode! 11:24:53.259 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (156.68) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.260 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-17.76) within bounds again, disabling safety fallback mode! 11:24:53.263 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (154.89) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.265 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-19.80) within bounds again, disabling safety fallback mode! 11:24:53.266 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (154.52) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.267 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-20.75) within bounds again, disabling safety fallback mode! 11:24:53.268 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (149.26) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.269 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-21.67) within bounds again, disabling safety fallback mode! 11:24:53.270 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (147.30) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.272 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-23.59) within bounds again, disabling safety fallback mode! 11:24:53.273 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (146.86) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.275 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-24.37) within bounds again, disabling safety fallback mode! 11:24:53.277 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (141.34) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.278 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-25.22) within bounds again, disabling safety fallback mode! 11:24:53.278 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (141.02) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.280 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-25.84) within bounds again, disabling safety fallback mode! 11:24:53.281 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (137.03) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.284 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-26.58) within bounds again, disabling safety fallback mode! 11:24:53.286 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (136.61) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.290 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:53.291 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-27.67) within bounds again, disabling safety fallback mode! 11:24:53.291 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:53.292 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (135.47) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.293 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-27.99) within bounds again, disabling safety fallback mode! 11:24:53.295 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (127.62) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.295 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-28.53) within bounds again, disabling safety fallback mode! 11:24:53.296 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (127.04) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.298 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-28.70) within bounds again, disabling safety fallback mode! 11:24:53.299 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (122.54) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.300 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-29.12) within bounds again, disabling safety fallback mode! 11:24:53.301 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (121.87) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.303 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-29.14) within bounds again, disabling safety fallback mode! 11:24:53.303 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (117.20) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.304 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-29.47) within bounds again, disabling safety fallback mode! 11:24:53.306 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (114.64) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.308 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-29.58) within bounds again, disabling safety fallback mode! 11:24:53.310 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (112.61) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.312 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-29.52) within bounds again, disabling safety fallback mode! 11:24:53.315 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (110.46) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.317 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-29.20) within bounds again, disabling safety fallback mode! 11:24:53.319 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (99.96) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.319 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-29.31) within bounds again, disabling safety fallback mode! 11:24:53.321 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (99.00) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.324 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-28.89) within bounds again, disabling safety fallback mode! 11:24:53.331 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (90.17) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.333 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-28.38) within bounds again, disabling safety fallback mode! 11:24:53.335 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (84.86) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.335 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-28.57) within bounds again, disabling safety fallback mode! 11:24:53.337 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (83.97) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.339 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-28.28) within bounds again, disabling safety fallback mode! 11:24:53.340 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (79.00) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.340 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-28.42) within bounds again, disabling safety fallback mode! 11:24:53.342 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (76.27) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.343 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-28.54) within bounds again, disabling safety fallback mode! 11:24:53.344 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (75.29) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.345 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-28.14) within bounds again, disabling safety fallback mode! 11:24:53.347 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (70.23) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.347 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-28.21) within bounds again, disabling safety fallback mode! 11:24:53.348 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (69.17) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.349 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-27.71) within bounds again, disabling safety fallback mode! 11:24:53.350 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (64.05) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.351 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-27.74) within bounds again, disabling safety fallback mode! 11:24:53.352 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (62.93) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.353 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-27.18) within bounds again, disabling safety fallback mode! 11:24:53.354 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (57.77) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.355 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-27.18) within bounds again, disabling safety fallback mode! 11:24:53.357 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (56.59) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.361 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-26.57) within bounds again, disabling safety fallback mode! 11:24:53.362 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (53.57) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.363 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-25.99) within bounds again, disabling safety fallback mode! 11:24:53.364 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (45.13) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.365 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-26.02) within bounds again, disabling safety fallback mode! 11:24:53.365 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (43.94) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.367 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-24.96) within bounds again, disabling safety fallback mode! 11:24:53.368 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (38.42) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.369 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-25.10) within bounds again, disabling safety fallback mode! 11:24:53.371 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (37.32) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.373 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-25.30) within bounds again, disabling safety fallback mode! 11:24:53.376 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (33.10) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.377 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-25.57) within bounds again, disabling safety fallback mode! 11:24:53.383 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (32.09) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.383 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-25.41) within bounds again, disabling safety fallback mode! 11:24:53.400 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:53.401 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:53.406 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (30.14) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:24:53.474 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:53.474 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:53.532 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-28.88) within bounds again, disabling safety fallback mode! 11:24:53.542 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 64.164 degrees 11:24:53.549 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:53.550 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:53.634 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:53.634 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:53.656 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 65.734 degrees 11:24:53.656 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 65.068 degrees 11:24:53.657 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 64.398 degrees 11:24:53.660 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 63.723 degrees 11:24:53.661 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 63.044 degrees 11:24:53.713 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:53.714 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:53.783 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:53.783 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:53.856 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:53.856 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:53.923 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:53.924 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:53.985 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:53.986 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.044 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.044 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.104 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.105 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.152 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.152 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.204 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.205 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.260 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.261 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.323 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.324 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.398 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.398 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.464 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.465 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.539 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.539 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.604 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.604 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.674 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.675 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.737 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.737 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.788 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.788 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.839 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.840 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.895 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.896 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:54.961 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:54.961 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:55.032 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:55.032 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:55.093 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:55.093 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:55.158 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:55.159 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:55.226 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:55.227 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:55.293 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:55.293 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:55.363 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:55.364 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:55.411 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:55.411 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:55.461 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:55.463 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:55.526 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:55.527 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:55.595 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:55.596 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:55.750 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:55.752 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:55.929 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:55.930 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.017 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.017 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.082 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.082 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.148 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.149 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.217 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.217 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.270 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.271 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.330 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.330 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.388 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.389 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.449 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.450 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.514 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.514 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.586 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.587 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.642 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.642 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.714 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.715 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.784 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.784 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.831 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.831 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.885 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.885 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:56.944 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:56.944 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:57.009 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:57.009 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:57.079 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:57.079 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:57.140 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:57.140 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:57.211 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:57.212 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:57.295 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:57.296 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:57.369 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:57.369 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:57.441 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:57.441 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:57.512 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:57.512 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:57.523 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 792.40Hz 11:24:57.593 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:57.593 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:57.670 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:57.670 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:57.767 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:57.767 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:57.832 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:57.832 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:57.896 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:57.896 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:57.961 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:57.961 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.020 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.021 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.083 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.083 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.147 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.148 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.204 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.207 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.255 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.255 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.346 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.347 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.402 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.402 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.468 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.468 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.548 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.548 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.618 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.619 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.690 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.690 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.757 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.758 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.834 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.834 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.891 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.891 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.934 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.935 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:58.991 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:58.992 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:59.052 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:59.053 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:59.125 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:59.125 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:59.193 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:59.194 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:59.251 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:24:59.252 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:24:59.278 ERROR [robot_code/robot_core/path_planning/src/path_planner_manager.rs:143] Failed to send control goal: sending on a full channel 11:24:59.278 ERROR [robot_code/robot_core/path_planning/src/lib.rs:486] Failed path planner manager navigation: Error sending/receiving messages from control: sending on a full channel 11:24:59.278 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: CancelledGoals([Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))], ControlConnectionFailure("sending on a full channel")) 11:24:59.279 ERROR [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:532] Goal cancelled because: 'Error sending/receiving messages from control: sending on a full channel' 11:24:59.280 INFO [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:148] Aborting task: Path planner error: 'Error sending/receiving messages from control: sending on a full channel' 11:24:59.280 WARN [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:599] Expected goal to be cancelled: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), but it is not in list of cancelled goals: [] 11:24:59.280 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:24:59.280 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:24:59.280 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("ErrorMode(error:'Waiting hold got error during update')") } 11:24:59.280 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:24:59.281 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-24-52_WaitingHold") 11:24:59.282 WARN [robot_code/robot_core/task_scheduler/src/executor/error.rs:72] Executor in ErrorMode with error 'Waiting hold got error during update' 11:24:59.282 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:24:59.282 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:42] Path planner stopped successfully 11:24:59.283 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("IdleMode") } 11:24:59.283 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:76] Executor in ErrorMode, but deactivated successfully 11:25:02.522 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 4204.19Hz 11:25:06.152 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:25:06.152 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: AddTask(SurveyArea: 'surveyArea') 11:25:07.522 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 4621.95Hz 11:25:07.910 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: Engage 11:25:07.910 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 11:25:07.911 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 11:25:07.912 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:25:07.912 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [DirectControl(ControlGoalWithMeta { id: 3a851fdc-c293-4946-b31b-a8686282fa61, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: 0.5754426304127706, w: 0.81784214803569, euler (degrees): (0.0, 0.0, 70.26127153699044)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:25:07.912 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 3a851fdc-c293-4946-b31b-a8686282fa61, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: 0.5754426304127706, w: 0.81784214803569, euler (degrees): (0.0, 0.0, 70.26127153699044)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:25:07.913 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 3a851fdc-c293-4946-b31b-a8686282fa61, start_time: Some(1311.8 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: 0.5754426304127706, w: 0.81784214803569, euler (degrees): (0.0, 0.0, 70.26127153699044)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started) 11:25:07.913 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:25:07.913 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SimpleGoal, name: 'Upright task', id: c9249088-d4de-456a-bcbc-e4cba8907b44)"), mode: None } 11:25:07.914 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-25-07_Upright task/2025-08-14_11-25-07_Upright task_rust.log" 11:25:07.914 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-25-07_Upright task 11:25:07.914 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09457440412982238, Enable control depth: 0.2, Depth control enabled: true 11:25:07.914 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:25:07.914 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 3a851fdc-c293-4946-b31b-a8686282fa61, start_time: Some(1311.8 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: 0.5754426304127706, w: 0.81784214803569, euler (degrees): (0.0, 0.0, 70.26127153699044)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished) 11:25:07.914 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:25:07.914 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.7923779705485782 m^1, east: 0.5548690224693847 m^1, down: 0.09457440412982238 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:25:07.915 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:25:07.915 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:25:07.916 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 3a851fdc-c293-4946-b31b-a8686282fa61, start_time: Some(1311.8 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: 0.5754426304127706, w: 0.81784214803569, euler (degrees): (0.0, 0.0, 70.26127153699044)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }) 11:25:07.916 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 }))] 11:25:07.916 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 }))] 11:25:07.917 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })), Started) 11:25:07.917 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:25:07.917 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-25-07_Upright task") 11:25:07.917 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: MoveTo, name: 'move to start of 'surveyArea'', id: dcaeb9d4-132f-468a-adfe-4ed19a15c50f)"), mode: None } 11:25:07.917 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 } 11:25:07.919 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-25-07_move to start of \'surveyArea\'/2025-08-14_11-25-07_move to start of \'surveyArea\'_rust.log" 11:25:07.919 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-25-07_move to start of 'surveyArea' 11:25:07.920 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:553] Starting task 'move to start of 'surveyArea'', to prepare for SurveyArea task 'surveyArea' 11:25:07.920 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09421246648869819, Enable control depth: 0.2, Depth control enabled: true 11:25:07.920 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:25:07.920 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:25:07.920 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } }), hold_duration: None } }] 11:25:07.921 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -19.34408403880743 m^1, east: -4.59364705926593 m^1, down: 0.09421246648869819 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } } 11:25:07.921 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 11:25:07.921 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 }) 11:25:07.921 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })) 11:25:07.949 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20005516737994178, Enable control depth: 0.2, Depth control enabled: false 11:25:07.949 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:25:08.013 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 11:25:08.101 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:25:08.102 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:25:08.102 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 }) 11:25:08.104 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })) 11:25:08.178 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:25:08.179 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })) 11:25:08.246 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:25:08.246 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })) 11:25:08.319 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:25:08.320 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })) 11:25:08.389 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:25:08.389 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })) 11:25:08.459 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:25:08.459 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })) 11:25:08.568 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:25:08.569 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })) 11:25:08.655 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:25:08.656 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })) 11:25:08.737 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:25:08.737 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })) 11:25:08.788 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:25:08.788 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })) 11:25:08.854 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:25:08.855 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })) 11:25:08.920 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:25:08.920 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })) 11:25:08.929 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 11:25:08.929 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 }) 11:25:08.930 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), max_velocity: 1.0 m^1 s^-1 })) 11:25:08.930 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:25:08.930 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SurveyArea task 'surveyArea' 11:25:08.930 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:25:08.931 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:25:08.931 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:25:08.931 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:25:08.931 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started) 11:25:08.932 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:25:08.932 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: dd834430-daa0-4023-912f-77a5a26ad0dc)"), mode: None } 11:25:08.932 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-25-07_move to start of 'surveyArea'") 11:25:08.933 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-25-08_surveyArea/2025-08-14_11-25-08_surveyArea_rust.log" 11:25:08.933 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-25-08_surveyArea 11:25:08.933 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:25:08.933 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.14637983409943772 m^1, east: 0.03445732473870874 m^1, down: 1.095220387263295 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } } 11:25:08.934 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.0947980862291038 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 1.0195307967386376 m^1, east: 0.16199399928868552 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 1.0195307967386376 m^1, east: 0.16199399928868552 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } }), target_velocity: 0.4 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:25:08.934 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing) 11:25:08.934 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:25:08.935 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:25:10.504 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: 1.0195307967386376 m^1, east: 0.16199399928868552 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } }, end: PositionNE { north: -1.0195305856742731 m^1, east: 0.16199399928868552 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -1.0195305856742731 m^1, east: -0.6981416952650361 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } }, end: PositionNE { north: 1.0195307967386376 m^1, east: -0.6981416952650361 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }] 11:25:10.504 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:25:10.504 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:25:10.505 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:25:10.510 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-25-08_surveyArea/photos/mocked_image_0.raw" 11:25:10.512 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:25:10.512 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:25:10.544 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:25:10.612 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:25:10.614 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:25:10.636 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:25:10.636 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:25:10.692 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:25:10.692 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:25:10.696 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:25:10.697 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:25:10.749 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:25:10.749 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:25:10.790 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:25:10.792 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:25:10.799 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:25:10.863 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:25:10.863 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:25:10.887 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:25:10.887 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:25:10.948 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:25:10.948 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:25:10.960 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:25:10.962 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:25:10.962 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:25:11.045 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:25:11.045 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:25:11.054 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:25:11.055 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:25:11.088 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:25:11.088 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:25:11.122 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:25:11.123 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:25:11.134 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:25:11.134 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:25:11.179 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:25:11.180 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished) 11:25:11.180 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:25:11.181 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:25:11.181 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084149860357207 0.07627025022119527,0.9084152996069093 0.07627025022119527,0.9084152996069093 0.07627076009617306,0.9084149860357207 0.07627076009617306,0.9084149860357207 0.07627025022119527)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:25:11.181 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:25:11.189 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:25:11.189 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:25:11.210 ERROR [robot_code/peripherals/payload/src/position_camera.rs:133] Payload status channel was full! 11:25:11.305 WARN [robot_code/peripherals/payload/src/lib.rs:98] Payload session was dropped without being stopped, stopping it now 11:25:11.306 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:25:11.306 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:25:11.306 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:25:11.306 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started) 11:25:11.306 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:25:11.306 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'WaitingHold', id: 2d958555-7452-42f0-9568-83af61285d74)"), mode: None } 11:25:11.306 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-25-08_surveyArea") 11:25:11.307 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-25-11_WaitingHold/2025-08-14_11-25-11_WaitingHold_rust.log" 11:25:11.307 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:25:11.307 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Preparing) 11:25:11.307 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 1.6063741101936397 m^1, east: -0.7507516309303569 m^1, down: 8.334461722615934 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } } 11:25:11.307 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 1.6079603474179727 m^1, east: -0.7507522375250579 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:25:11.307 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:25:11.308 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-25-11_WaitingHold 11:25:11.311 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'WaitingHold' 11:25:11.312 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:12.522 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2388.12Hz 11:25:12.847 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.19991726647703523, Enable control depth: 0.2, Depth control enabled: true 11:25:12.847 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:25:12.883 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 1.6079603474179727 m^1, east: -0.7507522375250579 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }] 11:25:12.883 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:12.884 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:25:12.884 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:12.977 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:12.978 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:13.071 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:13.072 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:13.146 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:13.147 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:13.217 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:13.221 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:13.314 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:13.314 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:13.409 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:13.410 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:13.489 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:13.490 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:13.560 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:13.561 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:13.642 ERROR [robot_code/robot_core/path_planning/src/path_planner_manager.rs:143] Failed to send control goal: sending on a full channel 11:25:13.642 ERROR [robot_code/robot_core/path_planning/src/lib.rs:486] Failed path planner manager navigation: Error sending/receiving messages from control: sending on a full channel 11:25:13.647 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: CancelledGoals([Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))], ControlConnectionFailure("sending on a full channel")) 11:25:13.648 ERROR [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:532] Goal cancelled because: 'Error sending/receiving messages from control: sending on a full channel' 11:25:13.648 INFO [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:148] Aborting task: Path planner error: 'Error sending/receiving messages from control: sending on a full channel' 11:25:13.649 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:25:13.649 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:25:13.649 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:25:13.650 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-25-11_WaitingHold") 11:25:13.652 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:25:13.652 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:76] Executor in ErrorMode, but deactivated successfully 11:25:13.652 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("ErrorMode(error:'Waiting hold got error during update')") } 11:25:13.653 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:42] Path planner stopped successfully 11:25:13.653 WARN [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:599] Expected goal to be cancelled: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), but it is not in list of cancelled goals: [] 11:25:13.653 WARN [robot_code/robot_core/task_scheduler/src/executor/error.rs:72] Executor in ErrorMode with error 'Waiting hold got error during update' 11:25:13.653 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("IdleMode") } 11:25:17.522 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1682.63Hz 11:25:22.523 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 1191.68Hz 11:25:23.146 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 84.011 degrees 11:25:23.146 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 83.475 degrees 11:25:23.147 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 82.977 degrees 11:25:23.147 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 82.516 degrees 11:25:23.148 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 82.088 degrees 11:25:23.149 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 81.690 degrees 11:25:23.149 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 81.318 degrees 11:25:23.149 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 80.968 degrees 11:25:23.150 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 80.638 degrees 11:25:23.151 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 80.324 degrees 11:25:23.151 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 80.024 degrees 11:25:23.152 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 79.738 degrees 11:25:23.152 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 79.463 degrees 11:25:23.153 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 79.198 degrees 11:25:23.153 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 78.944 degrees 11:25:23.153 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 78.698 degrees 11:25:23.154 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 78.462 degrees 11:25:23.154 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 78.233 degrees 11:25:23.154 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 78.013 degrees 11:25:23.155 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 77.800 degrees 11:25:23.155 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 77.595 degrees 11:25:23.155 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 77.397 degrees 11:25:23.156 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 77.206 degrees 11:25:23.157 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 77.022 degrees 11:25:23.157 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 76.846 degrees 11:25:23.158 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 76.676 degrees 11:25:23.158 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 76.512 degrees 11:25:23.158 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 76.356 degrees 11:25:23.159 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 76.206 degrees 11:25:23.159 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 76.063 degrees 11:25:23.159 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 75.926 degrees 11:25:23.159 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 75.795 degrees 11:25:23.160 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 75.671 degrees 11:25:23.160 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 75.553 degrees 11:25:23.160 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 75.441 degrees 11:25:23.161 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 75.335 degrees 11:25:23.161 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 75.236 degrees 11:25:23.161 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 75.142 degrees 11:25:23.162 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 75.055 degrees 11:25:23.162 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 75.156 degrees 11:25:23.162 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 75.438 degrees 11:25:23.163 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 75.383 degrees 11:25:23.163 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 74.961 degrees 11:25:23.163 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 74.577 degrees 11:25:23.164 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 74.233 degrees 11:25:23.164 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 73.926 degrees 11:25:23.164 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 73.650 degrees 11:25:23.165 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 73.404 degrees 11:25:23.165 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 73.182 degrees 11:25:23.166 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 72.983 degrees 11:25:23.166 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 72.802 degrees 11:25:23.166 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 72.638 degrees 11:25:23.167 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 72.488 degrees 11:25:23.168 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 72.352 degrees 11:25:23.168 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 72.227 degrees 11:25:23.170 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 72.113 degrees 11:25:23.170 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 72.008 degrees 11:25:23.171 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.913 degrees 11:25:23.171 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.826 degrees 11:25:23.172 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.747 degrees 11:25:23.172 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.675 degrees 11:25:23.172 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.611 degrees 11:25:23.173 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.554 degrees 11:25:23.173 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.504 degrees 11:25:23.173 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.461 degrees 11:25:23.174 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.424 degrees 11:25:23.174 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.393 degrees 11:25:23.175 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.368 degrees 11:25:23.175 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.349 degrees 11:25:23.178 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.337 degrees 11:25:23.178 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.330 degrees 11:25:23.178 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.329 degrees 11:25:23.178 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.334 degrees 11:25:23.178 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.344 degrees 11:25:23.178 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.360 degrees 11:25:23.179 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.381 degrees 11:25:23.179 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.408 degrees 11:25:23.179 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.440 degrees 11:25:23.180 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.477 degrees 11:25:23.180 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.519 degrees 11:25:23.180 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.567 degrees 11:25:23.181 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.619 degrees 11:25:23.181 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.676 degrees 11:25:23.181 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.738 degrees 11:25:23.181 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.804 degrees 11:25:23.182 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.875 degrees 11:25:23.182 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.951 degrees 11:25:23.182 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 72.031 degrees 11:25:23.183 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 72.116 degrees 11:25:23.184 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 72.205 degrees 11:25:23.185 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 72.298 degrees 11:25:23.185 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 71.734 degrees 11:25:23.185 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 70.945 degrees 11:25:23.186 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 69.897 degrees 11:25:23.186 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 68.915 degrees 11:25:23.186 WARN [robot_code/robot_core/state_estimation/src/lib.rs:129] Big slope detected, ignoring slope. Calculated slope: 68.032 degrees 11:25:25.345 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: Engage 11:25:25.346 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 11:25:25.346 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 11:25:25.347 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:25:25.347 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [DirectControl(ControlGoalWithMeta { id: a1c84a04-8438-48b0-90c4-e62137ee20dd, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.6089208782971111, w: 0.7932309650876439, euler (degrees): (0.0, 0.0, -75.02303255165052)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:25:25.347 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: a1c84a04-8438-48b0-90c4-e62137ee20dd, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.6089208782971111, w: 0.7932309650876439, euler (degrees): (0.0, 0.0, -75.02303255165052)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:25:25.348 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: a1c84a04-8438-48b0-90c4-e62137ee20dd, start_time: Some(2101.76 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.6089208782971111, w: 0.7932309650876439, euler (degrees): (0.0, 0.0, -75.02303255165052)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started) 11:25:25.348 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:25:25.348 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SimpleGoal, name: 'Upright task', id: 2c90fcfa-2c83-4239-89a1-c82486e810b5)"), mode: None } 11:25:25.348 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-25-25_Upright task/2025-08-14_11-25-25_Upright task_rust.log" 11:25:25.348 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-25-25_Upright task 11:25:25.350 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09457443181959205, Enable control depth: 0.2, Depth control enabled: true 11:25:25.350 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:25:25.350 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (63.78) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:25:25.350 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:25:25.351 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 3.4412007047310356 m^1, east: -3.4460008125065076 m^1, down: 0.09457443181959205 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } } 11:25:25.413 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-29.92) within bounds again, disabling safety fallback mode! 11:25:25.471 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: a1c84a04-8438-48b0-90c4-e62137ee20dd, start_time: Some(2101.76 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.6089208782971111, w: 0.7932309650876439, euler (degrees): (0.0, 0.0, -75.02303255165052)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished) 11:25:25.473 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: a1c84a04-8438-48b0-90c4-e62137ee20dd, start_time: Some(2101.76 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.6089208782971111, w: 0.7932309650876439, euler (degrees): (0.0, 0.0, -75.02303255165052)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }) 11:25:25.475 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:25:25.475 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:25:25.476 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:25:25.477 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:25:25.477 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started) 11:25:25.479 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:25:25.479 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'WaitingHold', id: df300054-1015-4c2e-92c5-1d785fda5540)"), mode: None } 11:25:25.480 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-25-25_Upright task") 11:25:25.481 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-25-25_WaitingHold/2025-08-14_11-25-25_WaitingHold_rust.log" 11:25:25.481 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-25-25_WaitingHold 11:25:25.481 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'WaitingHold' 11:25:25.487 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.08722511548198326, Enable control depth: 0.2, Depth control enabled: true 11:25:25.487 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 3.6456674533892572 m^1, east: -3.478807354194433 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:25:25.487 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Preparing) 11:25:25.487 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:25.488 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 3.644541916311815 m^1, east: -3.4782309783351075 m^1, down: 0.08722511548198326 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } } 11:25:25.488 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:25:25.488 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:25:25.488 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:25:25.491 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 3.6456674533892572 m^1, east: -3.478807354194433 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084151428213145, lon: 0.07627050515868415 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }] 11:25:25.491 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:25:25.492 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:25.495 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:25.621 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:25.621 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:25.741 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:25.741 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:25.842 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:25.842 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:25.935 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:25.935 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:26.039 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:26.040 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:26.132 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:26.132 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:26.219 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:26.220 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:26.335 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:26.337 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:26.450 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:26.451 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:26.534 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:26.534 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:26.620 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:26.620 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:26.703 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:26.704 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:26.786 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:26.787 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:26.863 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:26.863 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:26.941 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:26.942 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:27.016 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:27.016 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:27.088 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:27.089 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:27.167 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:27.168 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:27.239 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:27.239 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:27.331 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:27.332 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:27.400 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:27.400 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:27.480 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:27.481 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:27.522 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2275.05Hz 11:25:27.559 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:27.560 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:27.636 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:27.639 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:27.716 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:25:27.716 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:25:27.747 ERROR [robot_code/robot_core/path_planning/src/path_planner_manager.rs:143] Failed to send control goal: sending on a full channel 11:25:27.747 ERROR [robot_code/robot_core/path_planning/src/lib.rs:486] Failed path planner manager navigation: Error sending/receiving messages from control: sending on a full channel 11:25:27.748 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: CancelledGoals([Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))], ControlConnectionFailure("sending on a full channel")) 11:25:27.748 ERROR [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:532] Goal cancelled because: 'Error sending/receiving messages from control: sending on a full channel' 11:25:27.748 INFO [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:148] Aborting task: Path planner error: 'Error sending/receiving messages from control: sending on a full channel' 11:25:27.749 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:25:27.749 WARN [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:599] Expected goal to be cancelled: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), but it is not in list of cancelled goals: [] 11:25:27.749 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("ErrorMode(error:'Waiting hold got error during update')") } 11:25:27.750 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-25-25_WaitingHold") 11:25:27.750 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:25:27.750 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:25:27.750 WARN [robot_code/robot_core/task_scheduler/src/executor/error.rs:72] Executor in ErrorMode with error 'Waiting hold got error during update' 11:25:27.752 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [] 11:25:27.752 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:42] Path planner stopped successfully 11:25:27.752 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("IdleMode") } 11:25:27.753 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:76] Executor in ErrorMode, but deactivated successfully 11:25:32.522 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:106] Simulated robot code update rate: 2161.81Hz 11:25:35.806 INFO [robot_code/utilities/simulator/src/simulator.rs:326] Simulator dropped: Simulator() 11:25:35.810 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'path_planner' stopped 11:25:35.818 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'task_scheduler' stopped 11:25:35.827 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 11:25:35.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped 11:25:35.845 INFO [robot_code/robot_core/launch/src/lib.rs:432] Joined thread 'state_estimator' 11:25:35.845 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'control' 11:25:35.845 INFO [robot_code/robot_core/launch/src/lib.rs:432] Joined thread 'control' 11:25:35.845 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'simulator' 11:25:35.978 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 11:25:35.978 INFO [robot_code/robot_core/launch/src/lib.rs:432] Joined thread 'simulator' 11:25:35.978 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'path_planner' 11:25:35.978 INFO [robot_code/robot_core/launch/src/lib.rs:432] Joined thread 'path_planner' 11:25:35.978 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'task_scheduler' 11:25:35.978 INFO [robot_code/robot_core/launch/src/lib.rs:432] Joined thread 'task_scheduler' 11:25:35.978 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'lora_module' 11:25:36.095 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 11:25:36.539 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped 11:25:36.548 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_state_publisher' stopped 11:25:36.616 INFO [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server 11:25:49.976 INFO [robot_code/utilities/logging/src/logging.rs:133] ================================================================================ 11:25:49.976 INFO [robot_code/utilities/logging/src/logging.rs:134] Starting new Rust log session at 2025-08-14 11:25:49.976026197 +02:00 11:25:49.976 INFO [robot_code/utilities/logging/src/logging.rs:135] ================================================================================ 11:25:49.976 DEBUG [robot_code/utilities/logging/src/logging.rs:136] 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_settings": 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_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_usbl_driver": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Trace, 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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 11:25:49.976 INFO [robot_code/utilities/logging/src/logging.rs:139] Logging to "/home/joris/Desktop/data_root" 11:25:49.976 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-25-49_simulated_scout.lobsterlog") 11:25:49.979 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 11:25:50.127 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0]}) 11:25:50.127 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:25:50.128 INFO [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, 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] } 11:25:50.456 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0]}) 11:25:50.456 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:25:51.373 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0]}) 11:25:51.373 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:25:51.373 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 11:25:51.373 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 11:25:51.374 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 11:25:51.374 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 11:25:51.374 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 11:25:51.374 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 11:25:51.375 WARN [robot_code/robot_core/launch/src/lib.rs:439] IMU not enabled 11:25:51.375 WARN [robot_code/robot_core/launch/src/lib.rs:449] Magnetometer not enabled 11:25:51.375 WARN [robot_code/robot_core/launch/src/lib.rs:494] Nortek DVL not enabled 11:25:51.375 WARN [robot_code/robot_core/launch/src/lib.rs:475] GPS not enabled 11:25:51.375 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0]}) 11:25:51.375 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:25:51.375 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 11:25:51.375 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 11:25:51.376 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 11:25:51.377 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 11:25:51.377 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 11:25:51.377 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 11:25:51.377 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 47022 11:25:51.377 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 11:25:51.378 DEBUG [robot_code/peripherals/actuation/src/lib.rs:187] Started simulated thruster module 11:25:51.378 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 11:25:51.378 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 11:25:51.379 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 11:25:51.380 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 11:25:51.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 11:25:51.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 11:25:51.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 11:25:51.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 11:25:51.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 11:25:51.384 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 11:25:51.384 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 11:25:51.384 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 11:25:51.384 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 11:25:51.385 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 11:25:51.385 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 11:25:51.385 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 11:25:51.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 11:25:51.387 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 11:25:51.388 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 11:25:51.389 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 11:25:51.389 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 11:25:51.390 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 11:25:51.391 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 11:25:51.391 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 11:25:51.392 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 11:25:51.392 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 11:25:51.393 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 11:25:51.393 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0]}) 11:25:51.393 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:25:51.393 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 11:25:51.393 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 11:25:51.393 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 11:25:51.393 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 47051 11:25:51.393 INFO [robot_code/robot_core/control/src/control_safety.rs:101] Control starting... 11:25:51.393 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Starting at 0.02 11:25:51.394 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 11:25:51.394 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 11:25:51.394 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 11:25:51.394 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 47052 11:25:51.424 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 11:25:51.612 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 11:25:51.612 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 11:25:51.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 11:25:51.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 11:25:51.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 47054 11:25:51.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 11:25:51.613 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 11:25:51.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 11:25:51.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 11:25:51.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 47056 11:25:51.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 11:25:51.615 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 11:25:51.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 11:25:51.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 11:25:51.615 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 11:25:51.615 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 11:25:51.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 47094 11:25:51.615 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 11:25:51.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 11:25:51.615 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 11:25:51.616 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 11:25:51.617 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 11:25:51.618 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 11:25:51.618 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 11:25:51.618 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 11:25:51.618 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 11:25:51.618 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 11:25:51.618 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 11:25:51.618 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 11:25:51.618 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 47099 11:25:51.619 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 11:25:51.619 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 47100 11:25:51.619 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 11:25:51.619 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 47101 11:25:51.633 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:25:51.633 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 11:25:51.637 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 11:25:51.637 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 11:25:51.638 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 11:25:51.638 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 11:25:51.638 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 11:25:51.638 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 47103 11:25:51.638 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 11:25:51.638 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 11:25:51.638 INFO [robot_code/robot_core/launch/src/lib.rs:418] Waiting until code stops running so threads can be joined 11:25:51.638 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'state_estimator' 11:25:51.673 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:25:51.673 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:25:51.673 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:25:51.862 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:25:51.863 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {} 11:25:51.863 INFO [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings 11:25:51.875 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:25:51.876 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:25:58.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:25:58.614 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: AddTask(SurveyArea: 'surveyArea') 11:26:01.330 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: Engage 11:26:01.331 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 11:26:01.350 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 11:26:01.390 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:26:01.390 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [DirectControl(ControlGoalWithMeta { id: 7d7f083d-1f81-4601-bb27-12dc5e2059b8, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:26:01.390 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 7d7f083d-1f81-4601-bb27-12dc5e2059b8, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:26:01.400 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 7d7f083d-1f81-4601-bb27-12dc5e2059b8, start_time: Some(9.72 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started) 11:26:01.400 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SimpleGoal, name: 'Upright task', id: cea6247b-9d75-41ac-987e-27cd462565bd)"), mode: None } 11:26:01.400 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:26:01.401 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-26-01_Upright task/2025-08-14_11-26-01_Upright task_rust.log" 11:26:01.401 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-26-01_Upright task 11:26:01.431 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:26:01.431 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 7d7f083d-1f81-4601-bb27-12dc5e2059b8, start_time: Some(9.72 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished) 11:26:01.431 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.4501117310445327 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:26:01.451 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 7d7f083d-1f81-4601-bb27-12dc5e2059b8, start_time: Some(9.72 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }) 11:26:01.451 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SurveyArea task 'surveyArea' 11:26:01.471 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 11:26:01.473 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:26:01.473 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:26:01.473 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:26:01.473 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-26-01_Upright task") 11:26:01.473 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 33b18b90-5a66-4cb3-ab66-49538741b130)"), mode: None } 11:26:01.473 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started) 11:26:01.474 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-26-01_surveyArea/2025-08-14_11-26-01_surveyArea_rust.log" 11:26:01.474 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-26-01_surveyArea 11:26:01.491 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -0.8363242625585836 m^1, east: 0.05726886482774962 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -0.8363242625585836 m^1, east: 0.05726886482774962 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 0.4 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:26:01.491 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:26:01.491 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing) 11:26:01.511 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:26:52.563 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -0.8363242625585836 m^1, east: 0.05726886482774962 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 1.202737097502585 m^1, east: 0.05726886482774962 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 1.2027371049531657 m^1, east: -0.802866829725972 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -0.8363242476574224 m^1, east: -0.802866829725972 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }] 11:26:52.563 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:26:52.563 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:26:52.583 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:26:52.624 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-26-01_surveyArea/photos/mocked_image_0.raw" 11:26:52.624 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:26:52.624 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:26:54.594 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:26:54.614 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:26:56.627 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:26:56.646 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:26:58.658 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:26:58.678 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:00.709 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:27:00.729 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:02.740 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:27:02.761 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:03.022 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:27:04.772 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:27:04.791 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:04.992 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-26-01_surveyArea/photos/mocked_image_1.raw" 11:27:04.993 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:27:04.993 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:27:06.300 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:27:06.300 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:27:06.803 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:27:06.823 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:07.508 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-26-01_surveyArea/photos/mocked_image_3.raw" 11:27:07.508 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:27:07.508 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:27:08.554 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:27:08.855 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:27:08.875 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:09.599 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-26-01_surveyArea/photos/mocked_image_4.raw" 11:27:09.600 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:27:09.600 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:27:10.891 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:27:10.911 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:11.415 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:27:11.415 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:27:12.399 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:27:12.922 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:27:12.942 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:14.230 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-26-01_surveyArea/photos/mocked_image_6.raw" 11:27:14.231 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:27:14.231 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:27:14.960 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:27:14.978 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:15.445 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:27:15.445 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:27:16.651 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-26-01_surveyArea/photos/mocked_image_8.raw" 11:27:16.652 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:27:16.652 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:27:17.013 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:27:17.034 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:17.959 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:27:17.960 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:27:18.059 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:27:18.080 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished) 11:27:18.080 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:27:18.101 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121047954501 0.07626891376359701,0.9084124183666387 0.07626891376359701,0.9084124183666387 0.07626942363669098,0.9084121047954501 0.07626942363669098,0.9084121047954501 0.07626891376359701)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:18.103 WARN [robot_code/peripherals/payload/src/lib.rs:98] Payload session was dropped without being stopped, stopping it now 11:27:18.120 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:27:18.120 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:27:18.121 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:27:18.121 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started) 11:27:18.121 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:27:18.121 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-26-01_surveyArea") 11:27:18.121 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'WaitingHold', id: 5e2b7e06-389c-4d2b-bd09-0c9359c042c4)"), mode: None } 11:27:18.122 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-27-18_WaitingHold/2025-08-14_11-27-18_WaitingHold_rust.log" 11:27:18.122 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-27-18_WaitingHold 11:27:18.122 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'WaitingHold' 11:27:18.140 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.7588428194513632 m^1, east: -0.8529796641089349 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:27:18.140 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Preparing) 11:27:18.140 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:27:18.160 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:27:26.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:27:26.027 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: AddTask(SurveyArea: 'surveyArea') 11:27:26.067 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:27:26.067 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-27-18_WaitingHold") 11:27:26.068 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:27:26.068 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:27:26.107 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:27:26.107 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 }))] 11:27:26.107 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: MoveTo, name: 'move to start of 'surveyArea'', id: 90be715e-4fbd-46f6-9ecc-9a35d3c3b035)"), mode: None } 11:27:26.107 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:27:26.107 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 }))] 11:27:26.107 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 } 11:27:26.107 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 })), Started) 11:27:26.108 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-27-26_move to start of \'surveyArea\'/2025-08-14_11-27-26_move to start of \'surveyArea\'_rust.log" 11:27:26.108 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-27-26_move to start of 'surveyArea' 11:27:26.108 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:553] Starting task 'move to start of 'surveyArea'', to prepare for SurveyArea task 'surveyArea' 11:27:26.137 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:27:26.137 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(7.003646751363956 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), update_count: 1 } }), hold_duration: None } }] 11:27:26.138 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 2.6416547149432374 m^1, east: -2.4415458918662227 m^1, down: 7.553050461018579 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), update_count: 1 } } 11:27:26.138 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 11:27:26.138 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 }) 11:27:26.148 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 })) 11:27:29.124 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:27:29.124 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 }) 11:27:29.124 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:27:29.144 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 })) 11:27:31.156 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:27:31.176 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 })) 11:27:33.208 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:27:33.229 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 })) 11:27:35.240 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:27:35.260 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 })) 11:27:37.170 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 11:27:37.170 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 }) 11:27:37.189 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), max_velocity: 1.0 m^1 s^-1 })) 11:27:37.190 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SurveyArea task 'surveyArea' 11:27:37.190 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:27:37.190 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:27:37.230 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:27:37.230 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:27:37.230 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:27:37.230 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started) 11:27:37.230 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:27:37.230 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-27-26_move to start of 'surveyArea'") 11:27:37.230 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 34566c2c-5606-428d-9cd8-545f7a339b1b)"), mode: None } 11:27:37.232 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-27-37_surveyArea/2025-08-14_11-27-37_surveyArea_rust.log" 11:27:37.232 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-27-37_surveyArea 11:27:37.261 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:27:37.261 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.025441262801410115 m^1, east: 0.023455146873493246 m^1, down: 6.972496571876303 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), update_count: 1 } } 11:27:37.262 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(6.972496571876303 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -1.019530557116977 m^1, east: 0.161993988846315 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), update_count: 1 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -1.019530557116977 m^1, east: 0.161993988846315 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), update_count: 1 } }), target_velocity: 0.4 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:27:37.262 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:27:37.262 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing) 11:27:37.270 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:51.535 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -1.019530557116977 m^1, east: 0.161993988846315 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), update_count: 1 } }, end: PositionNE { north: 1.0195307507901274 m^1, east: 0.161993988846315 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 1.019530758240708 m^1, east: -0.6981417057074066 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), update_count: 1 } }, end: PositionNE { north: -1.019530557116977 m^1, east: -0.6981417057074066 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }] 11:27:51.535 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:27:51.535 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:27:51.555 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:51.616 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-27-37_surveyArea/photos/mocked_image_0.raw" 11:27:51.616 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:27:51.616 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:27:53.568 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:27:53.588 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:55.600 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:27:55.620 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:57.650 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:27:57.670 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:27:59.681 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:27:59.702 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:01.711 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:01.731 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:01.792 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:28:03.742 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:03.762 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:03.784 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:28:03.785 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-27-37_surveyArea/photos/mocked_image_1.raw" 11:28:03.785 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:28:05.089 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:28:05.089 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:28:05.798 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:05.799 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:06.307 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:28:06.308 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-27-37_surveyArea/photos/mocked_image_3.raw" 11:28:06.308 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:28:07.321 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:28:07.843 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:07.864 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:08.426 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-27-37_surveyArea/photos/mocked_image_4.raw" 11:28:08.427 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:28:08.427 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:28:09.877 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:09.896 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:10.240 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:28:10.240 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:28:11.164 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:28:11.908 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:11.928 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:12.954 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-27-37_surveyArea/photos/mocked_image_6.raw" 11:28:12.954 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:28:12.954 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:28:13.960 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:13.980 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:14.163 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:28:14.163 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:28:15.370 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-27-37_surveyArea/photos/mocked_image_8.raw" 11:28:15.370 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:28:15.371 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:28:15.994 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:16.014 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:16.679 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:28:16.679 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:28:16.820 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:28:16.843 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished) 11:28:16.844 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:28:16.860 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084115452848588 0.07626934233764508,0.9084118588560474 0.07626934233764508,0.9084118588560474 0.07626985221037401,0.9084115452848588 0.07626985221037401,0.9084115452848588 0.07626934233764508)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:16.860 WARN [robot_code/peripherals/payload/src/lib.rs:98] Payload session was dropped without being stopped, stopping it now 11:28:16.880 INFO [robot_code/peripherals/payload/src/position_camera.rs:137] Stopping PositionCamera recording, because receiver stopped 11:28:16.883 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:28:16.883 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:28:16.883 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:28:16.884 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started) 11:28:16.884 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-27-37_surveyArea") 11:28:16.884 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:28:16.884 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'WaitingHold', id: d5c21c5f-33b5-4ce5-9613-ef6e80b97957)"), mode: None } 11:28:16.884 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-28-16_WaitingHold/2025-08-14_11-28-16_WaitingHold_rust.log" 11:28:16.884 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-28-16_WaitingHold 11:28:16.885 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'WaitingHold' 11:28:16.900 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.9417925244142322 m^1, east: -0.7484820184214196 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:28:16.900 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Preparing) 11:28:16.900 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:28:16.920 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:29:01.465 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.19851914374426194, Enable control depth: 0.2, Depth control enabled: true 11:29:01.465 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:29:02.169 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.9417925244142322 m^1, east: -0.7484820184214196 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }] 11:29:02.169 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:29:02.169 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:29:02.189 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:29:04.200 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:29:04.221 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:29:06.250 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:29:06.252 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:29:08.282 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:29:08.283 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:29:10.313 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:29:10.334 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:29:12.345 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing) 11:29:12.365 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:29:14.074 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:29:14.074 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: AddTask(SurveyArea: 'surveyArea') 11:29:14.094 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:529] Cancelling goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:29:14.094 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-28-16_WaitingHold") 11:29:14.094 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SurveyArea task 'surveyArea' 11:29:14.095 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:29:14.095 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:29:14.134 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:29:14.135 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112733407854 0.07626920380835284,0.908411586911974 0.07626920380835284,0.908411586911974 0.07626971368090324,0.9084112733407854 0.07626971368090324,0.9084112733407854 0.07626920380835284)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:29:14.135 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112733407854 0.07626920380835284,0.908411586911974 0.07626920380835284,0.908411586911974 0.07626971368090324,0.9084112733407854 0.07626971368090324,0.9084112733407854 0.07626920380835284)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:29:14.135 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112733407854 0.07626920380835284,0.908411586911974 0.07626920380835284,0.908411586911974 0.07626971368090324,0.9084112733407854 0.07626971368090324,0.9084112733407854 0.07626920380835284)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started) 11:29:14.135 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:29:14.135 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: d1900d3b-5fe8-4e02-978b-176632fe31f6)"), mode: None } 11:29:14.136 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-29-14_surveyArea/2025-08-14_11-29-14_surveyArea_rust.log" 11:29:14.136 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-29-14_surveyArea 11:29:14.165 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.11339646853867663, Enable control depth: 0.2, Depth control enabled: true 11:29:14.166 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -0.7141675459311139 m^1, east: -0.7065168088314838 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), update_count: 1 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -0.7141675459311139 m^1, east: -0.7065168088314838 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), update_count: 1 } }), target_velocity: 0.4 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:29:14.166 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112733407854 0.07626920380835284,0.908411586911974 0.07626920380835284,0.908411586911974 0.07626971368090324,0.9084112733407854 0.07626971368090324,0.9084112733407854 0.07626920380835284)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing) 11:29:14.166 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:29:14.166 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:29:14.166 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.9651024528128599 m^1, east: -0.7051783500499041 m^1, down: 0.11339646853867663 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084117020704535, lon: 0.07626959727400955 }), update_count: 1 } } 11:29:14.167 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084112733407854 0.07626920380835284,0.908411586911974 0.07626920380835284,0.908411586911974 0.07626971368090324,0.9084112733407854 0.07626971368090324,0.9084112733407854 0.07626920380835284)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:29:14.175 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084112733407854 0.07626920380835284,0.908411586911974 0.07626920380835284,0.908411586911974 0.07626971368090324,0.9084112733407854 0.07626971368090324,0.9084112733407854 0.07626920380835284)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:29:14.898 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.2023116117027577, Enable control depth: 0.2, Depth control enabled: false 11:29:14.899 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:29:16.492 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 11:29:46.497 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (30.09) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:29:46.576 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-18.05) within bounds again, disabling safety fallback mode! 11:29:46.597 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (30.43) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:29:46.678 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-16.63) within bounds again, disabling safety fallback mode! 11:29:46.698 WARN [robot_code/robot_core/control/src/control_safety.rs:318] Roll error (30.26) is bigger than the allowed maximum (30.00), enabling safety fallback mode! 11:29:46.758 INFO [robot_code/robot_core/control/src/control_safety.rs:365] Roll error (-29.95) within bounds again, disabling safety fallback mode! 11:29:57.069 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread 'simulator' panicked at 'called `Result::unwrap()` on an `Err` value: Error { ctx: "Not connected to physics server" }': robot_code/utilities/simulator/src/pybullet_api.rs:146 0: log_panics::Config::install_panic_hook::{{closure}} 11:38:58.664 INFO [robot_code/utilities/logging/src/logging.rs:133] ================================================================================ 11:38:58.664 INFO [robot_code/utilities/logging/src/logging.rs:134] Starting new Rust log session at 2025-08-14 11:38:58.664364895 +02:00 11:38:58.664 INFO [robot_code/utilities/logging/src/logging.rs:135] ================================================================================ 11:38:58.664 DEBUG [robot_code/utilities/logging/src/logging.rs:136] 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_settings": 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_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_usbl_driver": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Trace, 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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 11:38:58.664 INFO [robot_code/utilities/logging/src/logging.rs:139] Logging to "/home/joris/Desktop/data_root" 11:38:58.664 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-38-58_simulated_scout.lobsterlog") 11:38:58.667 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 11:38:58.836 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 11:38:58.837 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:38:58.838 INFO [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, 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] } 11:38:59.273 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 11:38:59.273 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:39:01.140 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 11:39:01.141 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:39:01.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 11:39:01.144 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 11:39:01.148 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 11:39:01.149 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 11:39:01.149 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 11:39:01.150 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 11:39:01.150 WARN [robot_code/robot_core/launch/src/lib.rs:439] IMU not enabled 11:39:01.150 WARN [robot_code/robot_core/launch/src/lib.rs:449] Magnetometer not enabled 11:39:01.150 WARN [robot_code/robot_core/launch/src/lib.rs:494] Nortek DVL not enabled 11:39:01.150 WARN [robot_code/robot_core/launch/src/lib.rs:475] GPS not enabled 11:39:01.150 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 11:39:01.150 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:39:01.150 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 11:39:01.151 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 11:39:01.152 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 11:39:01.154 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 11:39:01.154 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 11:39:01.154 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 11:39:01.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 49155 11:39:01.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 11:39:01.156 DEBUG [robot_code/peripherals/actuation/src/lib.rs:187] Started simulated thruster module 11:39:01.156 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 11:39:01.157 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 11:39:01.159 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 11:39:01.160 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 11:39:01.161 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 11:39:01.161 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 11:39:01.167 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 11:39:01.168 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 11:39:01.169 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 11:39:01.169 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 11:39:01.175 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 11:39:01.178 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 11:39:01.181 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 11:39:01.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 11:39:01.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 11:39:01.188 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 11:39:01.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 11:39:01.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 11:39:01.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 11:39:01.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 11:39:01.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 11:39:01.199 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 11:39:01.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 11:39:01.201 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 11:39:01.203 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 11:39:01.203 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 11:39:01.206 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 11:39:01.206 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 11:39:01.207 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:39:01.207 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 11:39:01.207 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 11:39:01.207 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 11:39:01.207 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 49184 11:39:01.207 INFO [robot_code/robot_core/control/src/control_safety.rs:101] Control starting... 11:39:01.207 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Starting at 0.02 11:39:01.207 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 11:39:01.207 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 11:39:01.207 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 11:39:01.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 49185 11:39:01.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 11:39:01.649 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 11:39:01.649 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 11:39:01.649 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 11:39:01.650 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 11:39:01.650 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 49188 11:39:01.650 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 11:39:01.651 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 11:39:01.651 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 11:39:01.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 11:39:01.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 49190 11:39:01.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 11:39:01.655 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 11:39:01.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 11:39:01.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 11:39:01.656 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 11:39:01.656 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 11:39:01.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 49228 11:39:01.656 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 11:39:01.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 11:39:01.657 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 11:39:01.658 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 11:39:01.658 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 11:39:01.659 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 11:39:01.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 11:39:01.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 11:39:01.659 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 11:39:01.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 11:39:01.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 11:39:01.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 49233 11:39:01.660 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 11:39:01.660 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 11:39:01.660 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 49234 11:39:01.660 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 11:39:01.660 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 49235 11:39:01.670 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:39:01.680 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 11:39:01.690 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 11:39:01.690 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 11:39:01.691 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 11:39:01.691 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 11:39:01.691 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 11:39:01.692 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 49238 11:39:01.692 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 11:39:01.692 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 11:39:01.692 INFO [robot_code/robot_core/launch/src/lib.rs:418] Waiting until code stops running so threads can be joined 11:39:01.692 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'state_estimator' 11:39:01.832 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:39:01.833 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:39:01.834 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:39:01.944 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:39:01.945 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {} 11:39:01.945 INFO [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings 11:39:01.952 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:39:01.952 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 11:39:15.750 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:39:15.750 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: AddTask(SurveyArea: 'surveyArea') 11:39:17.581 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: Engage 11:39:17.581 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 11:39:17.602 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 11:39:17.661 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:39:17.662 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 09d9c7d8-2cde-4cda-9d0c-5e8c331fad6f, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:39:17.662 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [DirectControl(ControlGoalWithMeta { id: 09d9c7d8-2cde-4cda-9d0c-5e8c331fad6f, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:39:17.672 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 09d9c7d8-2cde-4cda-9d0c-5e8c331fad6f, start_time: Some(15.96 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started) 11:39:17.672 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:39:17.672 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SimpleGoal, name: 'Upright task', id: 85869de0-8344-4309-8f0a-e3b1e27bfdb2)"), mode: None } 11:39:17.672 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-39-17_Upright task/2025-08-14_11-39-17_Upright task_rust.log" 11:39:17.672 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-39-17_Upright task 11:39:17.693 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09744901246761935, Enable control depth: 0.2, Depth control enabled: true 11:39:17.693 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 09d9c7d8-2cde-4cda-9d0c-5e8c331fad6f, start_time: Some(15.96 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished) 11:39:17.693 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:39:17.693 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:39:17.694 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09744901246761935 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:39:17.701 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 09d9c7d8-2cde-4cda-9d0c-5e8c331fad6f, start_time: Some(15.96 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }) 11:39:17.702 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SurveyArea task 'surveyArea' 11:39:17.712 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:39:17.712 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:39:17.762 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:39:17.762 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:39:17.762 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started) 11:39:17.762 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:39:17.762 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-39-17_Upright task") 11:39:17.762 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: b55997d5-6501-40ad-bf58-2a8a576a95f9)"), mode: None } 11:39:17.763 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-39-17_surveyArea/2025-08-14_11-39-17_surveyArea_rust.log" 11:39:17.763 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-39-17_surveyArea 11:39:17.794 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.10181964029331855, Enable control depth: 0.2, Depth control enabled: true 11:39:17.794 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:39:17.794 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:39:17.794 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing) 11:39:17.794 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:39:17.794 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -0.9278018340342147 m^1, east: 0.13108597530880195 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -0.9278018340342147 m^1, east: 0.13108597530880195 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 0.4 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:39:17.794 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.10181964029331855 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:39:17.802 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:39:18.589 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20311153573476126, Enable control depth: 0.2, Depth control enabled: false 11:39:18.589 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:39:20.138 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 11:40:08.482 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -0.9278018340342147 m^1, east: 0.13108597530880195 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 1.1112594962246316 m^1, east: 0.13108597530880195 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 1.1112595036752122 m^1, east: -0.7290497192449197 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -0.9278018340342147 m^1, east: -0.7290497192449197 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }] 11:40:08.483 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:40:08.483 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:40:08.502 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:40:08.583 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:40:08.583 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-39-17_surveyArea/photos/mocked_image_0.raw" 11:40:08.583 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:40:10.515 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:40:10.534 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:40:12.545 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:40:12.567 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:40:14.597 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:40:14.617 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:40:16.627 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:40:16.648 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:40:18.666 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:40:18.686 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:40:18.686 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:40:20.637 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:40:20.637 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-39-17_surveyArea/photos/mocked_image_1.raw" 11:40:20.638 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:40:20.697 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:40:20.717 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:40:21.945 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:40:21.946 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:40:22.749 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:40:22.770 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:40:23.154 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:40:23.154 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-39-17_surveyArea/photos/mocked_image_3.raw" 11:40:23.154 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:40:24.222 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:40:24.784 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:40:24.805 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:40:24.865 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:40:24.865 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:40:26.776 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:40:26.776 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-39-17_surveyArea/photos/mocked_image_5.raw" 11:40:26.776 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:40:26.816 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:40:26.835 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:40:28.083 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:40:28.846 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:40:28.867 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:40:29.792 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:40:29.792 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-39-17_surveyArea/photos/mocked_image_6.raw" 11:40:29.793 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:40:30.899 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:40:30.919 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:40:31.001 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:40:31.001 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:40:32.206 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:40:32.207 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-39-17_surveyArea/photos/mocked_image_8.raw" 11:40:32.207 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:40:32.930 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:40:32.950 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:40:33.413 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 11:40:33.414 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 11:40:33.735 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:40:33.755 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished) 11:40:33.757 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:40:33.775 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120904464801 0.07626893254307049,0.9084124040176687 0.07626893254307049,0.9084124040176687 0.07626944241615558,0.9084120904464801 0.07626944241615558,0.9084120904464801 0.07626893254307049)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:40:33.776 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:40:33.776 WARN [robot_code/peripherals/payload/src/lib.rs:98] Payload session was dropped without being stopped, stopping it now 11:40:33.776 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:40:33.815 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:40:33.815 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:40:33.815 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started) 11:40:33.815 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:40:33.815 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'WaitingHold', id: de420305-be64-4001-bb3c-90d63cf3df36)"), mode: None } 11:40:33.816 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:40:33.816 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_11-39-17_surveyArea") 11:40:33.817 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_11-40-33_WaitingHold/2025-08-14_11-40-33_WaitingHold_rust.log" 11:40:33.817 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_11-40-33_WaitingHold 11:40:33.817 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'WaitingHold' 11:40:33.846 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.8551472832997321 m^1, east: -0.7795137913727505 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:40:33.848 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Preparing) 11:40:33.848 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:40:33.848 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.8551472832997321 m^1, east: -0.7795137913727505 m^1, down: 9.01168647955053 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:40:33.848 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:40:33.855 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:42.361 INFO [robot_code/utilities/simulator/src/simulator.rs:326] Simulator dropped: Simulator() 11:40:42.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 11:40:42.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 12:50:58.672 INFO [robot_code/utilities/logging/src/logging.rs:133] ================================================================================ 12:50:58.672 INFO [robot_code/utilities/logging/src/logging.rs:134] Starting new Rust log session at 2025-08-14 12:50:58.672870635 +02:00 12:50:58.672 INFO [robot_code/utilities/logging/src/logging.rs:135] ================================================================================ 12:50:58.672 DEBUG [robot_code/utilities/logging/src/logging.rs:136] 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_settings": 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_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_usbl_driver": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Trace, 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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_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/task_data/2025-08-14_simulated_scout/2025-08-14_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 12:50:58.673 INFO [robot_code/utilities/logging/src/logging.rs:139] Logging to "/home/joris/Desktop/data_root" 12:50:58.673 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_12-50-58_simulated_scout.lobsterlog") 12:50:58.680 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 12:50:58.808 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "ps_location": [1.28577, 0.0, 0.06725], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 12:50:58.808 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:50:58.809 INFO [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, 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] } 12:50:59.082 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "ps_location": [1.28577, 0.0, 0.06725], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 12:50:59.082 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:51:00.053 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "ps_location": [1.28577, 0.0, 0.06725], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 12:51:00.053 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:51:00.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 12:51:00.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 12:51:00.054 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 12:51:00.054 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 12:51:00.055 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 12:51:00.055 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 12:51:00.055 WARN [robot_code/robot_core/launch/src/lib.rs:439] IMU not enabled 12:51:00.055 WARN [robot_code/robot_core/launch/src/lib.rs:449] Magnetometer not enabled 12:51:00.055 WARN [robot_code/robot_core/launch/src/lib.rs:494] Nortek DVL not enabled 12:51:00.055 WARN [robot_code/robot_core/launch/src/lib.rs:475] GPS not enabled 12:51:00.055 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "ps_location": [1.28577, 0.0, 0.06725], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 12:51:00.055 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:51:00.055 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 12:51:00.056 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 12:51:00.057 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 12:51:00.057 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 12:51:00.057 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 12:51:00.057 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 12:51:00.057 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 82639 12:51:00.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 12:51:00.058 DEBUG [robot_code/peripherals/actuation/src/lib.rs:187] Started simulated thruster module 12:51:00.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 12:51:00.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 12:51:00.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 12:51:00.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 12:51:00.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 12:51:00.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 12:51:00.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 12:51:00.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 12:51:00.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 12:51:00.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 12:51:00.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 12:51:00.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 12:51:00.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 12:51:00.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 12:51:00.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 12:51:00.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 12:51:00.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 12:51:00.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 12:51:00.069 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 12:51:00.070 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 12:51:00.071 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 12:51:00.071 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 12:51:00.072 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 12:51:00.072 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 12:51:00.073 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 12:51:00.073 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 12:51:00.074 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 12:51:00.074 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "ps_location": [1.28577, 0.0, 0.06725], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 12:51:00.074 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:51:00.075 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 12:51:00.075 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 12:51:00.075 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 12:51:00.075 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 82668 12:51:00.075 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 12:51:00.075 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 12:51:00.075 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 12:51:00.075 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 12:51:00.075 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 12:51:00.075 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 82669 12:51:00.105 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 12:51:00.323 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 12:51:00.323 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 12:51:00.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 12:51:00.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 12:51:00.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 82672 12:51:00.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 12:51:00.324 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 12:51:00.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 12:51:00.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 12:51:00.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 82674 12:51:00.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 12:51:00.326 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 12:51:00.326 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 12:51:00.326 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 12:51:00.326 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 12:51:00.326 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 12:51:00.326 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 82712 12:51:00.327 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 12:51:00.327 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 12:51:00.327 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 12:51:00.327 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 12:51:00.327 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 12:51:00.328 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 12:51:00.328 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 12:51:00.328 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 12:51:00.328 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 12:51:00.328 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 12:51:00.328 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 82717 12:51:00.328 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 12:51:00.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 82718 12:51:00.329 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 12:51:00.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 12:51:00.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 12:51:00.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 82719 12:51:00.344 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 12:51:00.345 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 12:51:00.349 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 12:51:00.349 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 12:51:00.349 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 12:51:00.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 12:51:00.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 12:51:00.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 82721 12:51:00.350 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 12:51:00.350 INFO [robot_code/robot_core/launch/src/lib.rs:418] Waiting until code stops running so threads can be joined 12:51:00.350 INFO [robot_code/robot_core/launch/src/lib.rs:428] Trying to join thread 'state_estimator' 12:51:00.352 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 12:51:00.375 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:51:00.384 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:51:00.384 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 12:51:00.585 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:51:00.585 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 12:51:00.586 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:51:09.640 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: GetTaskQueue 12:51:09.640 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:51:09.640 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:51:15.536 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 12:51:15.536 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: AddTask(SurveyArea: 'surveyArea') 12:51:18.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 12:51:18.594 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: AddTask(SurveyArea: 'surveyArea') 12:51:21.469 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: AbortPendingTask(b0e8de15-5aa5-496d-b8f4-33af40e374b1) 12:51:21.469 INFO [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:126] Aborting task: Aborted by user 12:51:25.534 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:210] Received request while idle: Engage 12:51:25.534 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 12:51:25.554 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 12:51:25.614 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 12:51:25.615 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: b39c35a3-e676-4493-ae10-b26b1197f6fe, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 12:51:25.615 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [DirectControl(ControlGoalWithMeta { id: b39c35a3-e676-4493-ae10-b26b1197f6fe, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 12:51:25.625 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: b39c35a3-e676-4493-ae10-b26b1197f6fe, start_time: Some(25.16 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started) 12:51:25.625 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 12:51:25.625 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SimpleGoal, name: 'Upright task', id: 0b657c8c-477b-4675-b554-6ee7ffebeeda)"), mode: None } 12:51:25.625 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_12-51-25_Upright task/2025-08-14_12-51-25_Upright task_rust.log" 12:51:25.625 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_12-51-25_Upright task 12:51:25.646 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09866516681471058, Enable control depth: 0.2, Depth control enabled: true 12:51:25.646 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: b39c35a3-e676-4493-ae10-b26b1197f6fe, start_time: Some(25.16 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished) 12:51:25.646 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09866516681471058 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 12:51:25.646 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 12:51:25.646 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 12:51:25.655 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: b39c35a3-e676-4493-ae10-b26b1197f6fe, start_time: Some(25.16 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }) 12:51:25.665 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 12:51:25.666 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 12:51:25.715 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 }))] 12:51:25.715 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 }))] 12:51:25.715 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_12-51-25_Upright task") 12:51:25.715 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 12:51:25.715 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: MoveTo, name: 'move to start of 'surveyArea'', id: 3a4402b9-20f6-4f32-8909-4d1ce2aceacf)"), mode: None } 12:51:25.715 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })), Started) 12:51:25.715 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 } 12:51:25.715 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_12-51-25_move to start of \'surveyArea\'/2025-08-14_12-51-25_move to start of \'surveyArea\'_rust.log" 12:51:25.716 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_12-51-25_move to start of 'surveyArea' 12:51:25.716 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:553] Starting task 'move to start of 'surveyArea'', to prepare for SurveyArea task 'surveyArea' 12:51:25.746 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09860633138086554, Enable control depth: 0.2, Depth control enabled: true 12:51:25.746 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 12:51:25.746 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 12:51:25.746 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), update_count: 1 } }), hold_duration: None } }] 12:51:25.746 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 12:51:25.746 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -8.935564597014778 m^1, east: -15.606961858240949 m^1, down: 0.09860633138086554 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), update_count: 1 } } 12:51:25.746 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 }) 12:51:25.755 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })) 12:51:26.560 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20478663349045156, Enable control depth: 0.2, Depth control enabled: false 12:51:26.560 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 12:51:28.109 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 12:51:29.510 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:51:29.959 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:51:29.959 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: GetTaskQueue 12:51:30.501 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 12:51:30.501 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:51:30.501 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 }) 12:51:30.521 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })) 12:51:32.512 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:51:32.532 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })) 12:51:34.563 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:51:34.583 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })) 12:51:36.593 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:51:36.594 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })) 12:51:38.625 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:51:38.645 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })) 12:51:40.656 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:51:40.676 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })) 12:51:42.707 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:51:42.727 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })) 12:51:44.738 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:51:44.758 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })) 12:51:46.769 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:51:46.789 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })) 12:51:48.800 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:51:48.800 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })) 12:51:50.851 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:51:50.851 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })) 12:51:51.253 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 12:51:51.254 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 }) 12:51:51.273 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), max_velocity: 1.0 m^1 s^-1 })) 12:51:51.274 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SurveyArea task 'surveyArea' 12:51:51.274 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 12:51:51.274 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 12:51:51.313 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 12:51:51.313 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 12:51:51.313 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started) 12:51:51.313 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 12:51:51.314 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 12:51:51.314 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_12-51-25_move to start of 'surveyArea'") 12:51:51.314 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 7421ac10-ca0f-459c-a612-d51ed519648d)"), mode: None } 12:51:51.314 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_12-51-51_surveyArea/2025-08-14_12-51-51_surveyArea_rust.log" 12:51:51.314 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_12-51-51_surveyArea 12:51:51.355 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.07564076983962481 m^1, east: 0.13231311820449582 m^1, down: 1.0968888693521814 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), update_count: 1 } } 12:51:51.355 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 12:51:51.355 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:248] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.0968888693521814 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 1.0195307776353677 m^1, east: 0.16199399473941012 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), update_count: 1 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 1.0195307776353677 m^1, east: 0.16199399473941012 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), update_count: 1 } }), target_velocity: 0.4 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 12:51:51.355 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing) 12:51:51.356 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:255] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 12:51:51.374 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 12:52:35.126 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: 1.0195307776353677 m^1, east: 0.16199399473941012 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), update_count: 1 } }, end: PositionNE { north: -1.0195305749752204 m^1, east: 0.16199399473941012 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -1.0195305749752204 m^1, east: -0.6981416998143115 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), update_count: 1 } }, end: PositionNE { north: 1.0195307776353677 m^1, east: -0.6981416998143115 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084136344526064, lon: 0.07627316584541369 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }] 12:52:35.126 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 12:52:35.126 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 12:52:35.126 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 12:52:35.146 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 12:52:35.247 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 12:52:35.247 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_12-51-51_surveyArea/photos/mocked_image_0.raw" 12:52:35.247 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 12:52:37.158 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 12:52:37.158 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 12:52:37.159 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 12:52:37.179 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 12:52:38.465 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 12:52:38.465 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_12-51-51_surveyArea/photos/mocked_image_2.raw" 12:52:38.465 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 12:52:39.209 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 12:52:39.229 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 12:52:39.671 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 12:52:39.671 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 12:52:40.717 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 12:52:41.240 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 12:52:41.260 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 12:52:41.682 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 12:52:41.682 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 12:52:41.682 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_12-51-51_surveyArea/photos/mocked_image_4.raw" 12:52:43.270 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 12:52:43.270 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 12:52:43.492 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 12:52:43.492 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 12:52:44.598 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 12:52:45.302 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 12:52:45.322 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 12:52:46.307 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 12:52:46.307 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 12:52:46.308 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_12-51-51_surveyArea/photos/mocked_image_6.raw" 12:52:47.353 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 12:52:47.373 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 12:52:47.514 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 12:52:47.515 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 12:52:48.410 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:52:48.419 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:52:48.419 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: GetTaskQueue 12:52:48.721 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 12:52:48.721 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_12-51-51_surveyArea/photos/mocked_image_8.raw" 12:52:48.721 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 12:52:49.387 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 12:52:49.407 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 12:52:50.032 DEBUG [robot_code/peripherals/camera/src/jpeg/converter.rs:10] Converting raw image to JPEG buffer: 12:52:50.032 ERROR [robot_code/peripherals/payload/src/position_camera.rs:171] Failed to store photo as JPG: Custom { kind: Other, error: "Failed to convert raw image to JPEG buffer" } 12:52:50.171 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 12:52:50.191 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished) 12:52:50.191 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }) 12:52:50.211 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084134776670119 0.07627291090841773,0.9084137912382004 0.07627291090841773,0.9084137912382004 0.07627342078240965,0.9084134776670119 0.07627342078240965,0.9084134776670119 0.07627291090841773)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })) 12:52:50.212 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 12:52:50.212 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 12:52:50.212 WARN [robot_code/peripherals/payload/src/lib.rs:98] Payload session was dropped without being stopped, stopping it now 12:52:50.231 INFO [robot_code/peripherals/payload/src/position_camera.rs:137] Stopping PositionCamera recording, because receiver stopped 12:52:50.232 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:520] Current goal: None. Updated pending goals queue: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 12:52:50.232 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 12:52:50.232 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-14_12-51-51_surveyArea") 12:52:50.232 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:518] Received new goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 12:52:50.232 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 12:52:50.232 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:296] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started) 12:52:50.232 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'WaitingHold', id: f09efe9d-3b13-4d18-ab80-b8317d5cfd48)"), mode: None } 12:52:50.234 INFO [robot_code/utilities/logging/src/logging.rs:100] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-14_simulated_scout/2025-08-14_12-52-50_WaitingHold/2025-08-14_12-52-50_WaitingHold_rust.log" 12:52:50.234 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-14_12-52-50_WaitingHold 12:52:50.234 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'WaitingHold' 12:52:50.242 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread '' panicked at 'Camera trigger responder stopped: RecvError': robot_code/peripherals/camera/src/mocked_camera.rs:41 0: log_panics::Config::install_panic_hook::{{closure}}