13:13:02.118 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
13:13:02.118 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-20 13:13:02.118448286 +02:00
13:13:02.118 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
13:13:02.118 DEBUG [robot_code/utilities/logging/src/logging.rs:137] 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_live_stitching": 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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
13:13:02.118 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
13:13:02.118 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_13-13-02_simulated_scout.lobsterlog")
13:13:02.121 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
13:13:02.256 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0]})
13:13:02.256 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
13:13:02.257 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: false, 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] }
13:13:02.285 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0]})
13:13:02.285 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
13:13:02.772 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0]})
13:13:02.772 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
13:13:02.772 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
13:13:02.772 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
13:13:02.773 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
13:13:02.773 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
13:13:02.773 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
13:13:02.773 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
13:13:02.773 WARN  [robot_code/robot_core/launch/src/lib.rs:492] IMU not enabled
13:13:02.774 WARN  [robot_code/robot_core/launch/src/lib.rs:510] Magnetometer not enabled
13:13:02.774 WARN  [robot_code/robot_core/launch/src/lib.rs:174] Magnetometer not enabled, state estimation will not be able to use it
13:13:02.774 WARN  [robot_code/robot_core/launch/src/lib.rs:565] Nortek DVL not enabled
13:13:02.774 WARN  [robot_code/robot_core/launch/src/lib.rs:545] GPS not enabled
13:13:02.774 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0]})
13:13:02.774 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
13:13:02.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
13:13:02.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
13:13:02.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
13:13:02.775 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
13:13:02.775 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 }
13:13:02.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
13:13:02.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 116372
13:13:02.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
13:13:02.775 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
13:13:02.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
13:13:02.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
13:13:02.776 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
13:13:02.776 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
13:13:02.776 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
13:13:02.776 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
13:13:02.777 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
13:13:02.777 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
13:13:02.777 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
13:13:02.777 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
13:13:02.777 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
13:13:02.778 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
13:13:02.778 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
13:13:02.778 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
13:13:02.778 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
13:13:02.778 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
13:13:02.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
13:13:02.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
13:13:02.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
13:13:02.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
13:13:02.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
13:13:02.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
13:13:02.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
13:13:02.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
13:13:02.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
13:13:02.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
13:13:02.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
13:13:02.781 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0]})
13:13:02.781 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
13:13:02.781 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
13:13:02.781 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 }
13:13:02.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
13:13:02.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 116401
13:13:02.781 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
13:13:02.781 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
13:13:02.781 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
13:13:02.781 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 }
13:13:02.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
13:13:02.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 116402
13:13:02.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
13:13:02.900 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
13:13:02.900 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
13:13:02.900 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 }
13:13:02.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
13:13:02.900 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
13:13:02.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 116404
13:13:02.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
13:13:02.900 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
13:13:02.900 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 }
13:13:02.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
13:13:02.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 116406
13:13:02.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
13:13:02.902 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
13:13:02.902 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 }
13:13:02.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
13:13:02.902 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
13:13:02.902 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
13:13:02.902 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
13:13:02.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 116444
13:13:02.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
13:13:02.902 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
13:13:02.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
13:13:02.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
13:13:02.902 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
13:13:02.902 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 }
13:13:02.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
13:13:02.902 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
13:13:02.902 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 }
13:13:02.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
13:13:02.902 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
13:13:02.902 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 }
13:13:02.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 116449
13:13:02.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
13:13:02.903 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 116451
13:13:02.903 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 116450
13:13:02.920 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
13:13:02.920 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
13:13:02.923 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
13:13:02.923 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
13:13:02.923 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
13:13:02.923 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 }
13:13:02.923 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
13:13:02.923 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 116453
13:13:02.923 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
13:13:02.923 INFO  [robot_code/robot_core/launch/src/lib.rs:465] Waiting until code stops running so threads can be joined
13:13:02.923 INFO  [robot_code/robot_core/launch/src/lib.rs:475] Trying to join thread 'state_estimator'
13:13:02.924 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
13:13:02.964 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:13:02.980 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
13:13:02.980 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:13:02.986 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:13:03.000 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:13:03.000 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
13:17:09.114 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:17:09.133 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:17:09.133 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
13:17:11.177 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:17:11.182 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:17:11.182 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
13:17:23.491 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:17:23.493 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:17:23.493 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
13:18:44.156 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:18:44.157 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:18:44.157 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
13:18:49.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
13:18:49.739 INFO  [robot_code/utilities/simulator/src/simulator.rs:326] Simulator dropped: Simulator()
13:18:49.771 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
13:18:49.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
13:18:49.977 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_state_publisher' stopped
13:18:50.073 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
13:18:50.346 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
13:18:51.719 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping...
13:18:51.720 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped
13:18:51.720 INFO  [robot_code/robot_core/launch/src/lib.rs:479] Joined thread 'state_estimator'
13:18:51.720 INFO  [robot_code/robot_core/launch/src/lib.rs:475] Trying to join thread 'control'
13:18:51.720 INFO  [robot_code/robot_core/launch/src/lib.rs:479] Joined thread 'control'
13:18:51.720 INFO  [robot_code/robot_core/launch/src/lib.rs:475] Trying to join thread 'simulator'
13:18:51.720 INFO  [robot_code/robot_core/launch/src/lib.rs:479] Joined thread 'simulator'
13:18:51.720 INFO  [robot_code/robot_core/launch/src/lib.rs:475] Trying to join thread 'path_planner'
13:18:59.980 WARN  [robot_code/robot_core/launch/src/lib.rs:460] Not stopped after 10 seconds, aborting program
15:58:52.371 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
15:58:52.373 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-20 15:58:52.373072693 +02:00
15:58:52.373 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
15:58:52.373 DEBUG [robot_code/utilities/logging/src/logging.rs:137] 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_live_stitching": 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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
15:58:52.373 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
15:58:52.373 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_15-58-52_simulated_scout.lobsterlog")
15:58:52.375 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
15:58:52.505 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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_location": [0.93573, 0.00255, -0.17048], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "dvl_location": [1.3305, 0.0, 0.0176], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]})
15:58:52.505 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
15:58:52.506 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: false, 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] }
15:58:52.535 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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_location": [0.93573, 0.00255, -0.17048], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "dvl_location": [1.3305, 0.0, 0.0176], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]})
15:58:52.535 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
15:58:52.998 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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_location": [0.93573, 0.00255, -0.17048], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "dvl_location": [1.3305, 0.0, 0.0176], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]})
15:58:52.998 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
15:58:52.998 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
15:58:52.999 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
15:58:52.999 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
15:58:52.999 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
15:58:52.999 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
15:58:52.999 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
15:58:52.999 WARN  [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled
15:58:52.999 WARN  [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled
15:58:52.999 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
15:58:52.999 WARN  [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled
15:58:52.999 WARN  [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled
15:58:52.999 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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_location": [0.93573, 0.00255, -0.17048], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "dvl_location": [1.3305, 0.0, 0.0176], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]})
15:58:52.999 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
15:58:52.999 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
15:58:53.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
15:58:53.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
15:58:53.001 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
15:58:53.001 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 }
15:58:53.001 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
15:58:53.001 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 196141
15:58:53.001 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
15:58:53.001 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
15:58:53.001 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
15:58:53.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
15:58:53.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
15:58:53.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
15:58:53.003 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
15:58:53.003 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
15:58:53.003 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
15:58:53.003 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
15:58:53.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
15:58:53.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
15:58:53.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
15:58:53.005 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
15:58:53.005 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
15:58:53.005 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
15:58:53.005 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
15:58:53.006 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
15:58:53.006 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
15:58:53.006 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
15:58:53.006 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
15:58:53.006 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
15:58:53.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
15:58:53.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
15:58:53.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
15:58:53.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
15:58:53.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
15:58:53.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
15:58:53.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
15:58:53.008 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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_location": [0.93573, 0.00255, -0.17048], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "dvl_location": [1.3305, 0.0, 0.0176], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]})
15:58:53.008 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
15:58:53.008 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
15:58:53.008 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 }
15:58:53.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
15:58:53.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 196170
15:58:53.008 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
15:58:53.008 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
15:58:53.008 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
15:58:53.008 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 }
15:58:53.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
15:58:53.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 196171
15:58:53.039 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
15:58:53.134 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
15:58:53.134 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
15:58:53.134 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 }
15:58:53.134 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
15:58:53.134 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
15:58:53.134 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 196173
15:58:53.134 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
15:58:53.134 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
15:58:53.135 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 }
15:58:53.135 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
15:58:53.135 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 196175
15:58:53.135 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
15:58:53.136 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
15:58:53.136 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 }
15:58:53.136 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
15:58:53.136 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
15:58:53.136 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
15:58:53.136 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 196213
15:58:53.136 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
15:58:53.136 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
15:58:53.136 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
15:58:53.136 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
15:58:53.136 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
15:58:53.137 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
15:58:53.137 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 }
15:58:53.137 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
15:58:53.137 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
15:58:53.137 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 }
15:58:53.137 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 196218
15:58:53.137 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
15:58:53.137 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
15:58:53.137 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 }
15:58:53.137 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 196219
15:58:53.137 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
15:58:53.137 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 196220
15:58:53.154 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
15:58:53.154 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
15:58:53.156 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
15:58:53.156 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
15:58:53.157 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
15:58:53.157 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 }
15:58:53.157 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
15:58:53.157 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 196222
15:58:53.157 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
15:58:53.157 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
15:58:53.157 INFO  [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined
15:58:53.157 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator'
15:58:53.206 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
15:58:53.214 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
15:58:53.214 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
15:58:53.319 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
15:58:53.335 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
15:58:53.335 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:07:30.288 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
16:07:30.295 INFO  [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator()
16:07:30.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
16:07:30.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
16:07:30.781 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
16:07:31.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
16:07:31.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_state_publisher' stopped
16:07:32.276 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping...
16:07:32.277 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped
16:07:32.277 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'state_estimator'
16:07:32.277 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'control'
16:07:32.277 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'control'
16:07:32.277 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'simulator'
16:07:32.277 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'simulator'
16:07:32.277 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'path_planner'
16:07:57.307 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
16:07:57.307 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-20 16:07:57.307915106 +02:00
16:07:57.307 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
16:07:57.307 DEBUG [robot_code/utilities/logging/src/logging.rs:137] 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_live_stitching": 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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
16:07:57.308 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
16:07:57.308 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_16-07-57_simulated_scout.lobsterlog")
16:07:57.316 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
16:07:57.456 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_rear_location": [0.9707, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725]})
16:07:57.456 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
16:07:57.457 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: false, 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] }
16:07:57.483 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_rear_location": [0.9707, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725]})
16:07:57.483 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
16:07:57.899 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_rear_location": [0.9707, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725]})
16:07:57.899 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
16:07:57.899 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
16:07:57.899 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
16:07:57.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
16:07:57.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
16:07:57.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
16:07:57.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
16:07:57.900 WARN  [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled
16:07:57.900 WARN  [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled
16:07:57.900 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
16:07:57.900 WARN  [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled
16:07:57.900 WARN  [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled
16:07:57.900 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_rear_location": [0.9707, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725]})
16:07:57.900 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
16:07:57.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
16:07:57.901 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
16:07:57.901 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
16:07:57.901 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
16:07:57.901 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 }
16:07:57.901 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
16:07:57.901 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 202433
16:07:57.901 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
16:07:57.902 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
16:07:57.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
16:07:57.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
16:07:57.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
16:07:57.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
16:07:57.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
16:07:57.903 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
16:07:57.903 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
16:07:57.903 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
16:07:57.903 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
16:07:57.903 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
16:07:57.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
16:07:57.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
16:07:57.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
16:07:57.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
16:07:57.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
16:07:57.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
16:07:57.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
16:07:57.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
16:07:57.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
16:07:57.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
16:07:57.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
16:07:57.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
16:07:57.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
16:07:57.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
16:07:57.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
16:07:57.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
16:07:57.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
16:07:57.907 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_rear_location": [0.9707, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725]})
16:07:57.907 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
16:07:57.907 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
16:07:57.907 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 }
16:07:57.907 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
16:07:57.907 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 202462
16:07:57.907 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
16:07:57.907 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
16:07:57.907 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
16:07:57.907 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 }
16:07:57.907 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
16:07:57.907 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 202463
16:07:57.937 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
16:07:58.025 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
16:07:58.026 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
16:07:58.026 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 }
16:07:58.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
16:07:58.026 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
16:07:58.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 202465
16:07:58.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
16:07:58.026 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
16:07:58.026 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 }
16:07:58.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
16:07:58.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 202467
16:07:58.027 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
16:07:58.028 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
16:07:58.028 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 }
16:07:58.028 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
16:07:58.028 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
16:07:58.028 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
16:07:58.028 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
16:07:58.028 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
16:07:58.028 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 202505
16:07:58.028 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
16:07:58.028 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
16:07:58.028 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
16:07:58.028 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
16:07:58.028 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 }
16:07:58.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
16:07:58.029 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
16:07:58.029 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 }
16:07:58.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 202510
16:07:58.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
16:07:58.029 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
16:07:58.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 202511
16:07:58.029 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 }
16:07:58.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
16:07:58.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 202512
16:07:58.046 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:07:58.046 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
16:07:58.048 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
16:07:58.048 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
16:07:58.048 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
16:07:58.048 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 }
16:07:58.048 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
16:07:58.048 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
16:07:58.048 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 202514
16:07:58.048 INFO  [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined
16:07:58.048 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator'
16:07:58.048 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
16:07:58.094 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:07:58.106 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:07:58.106 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:07:58.212 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:07:58.227 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:07:58.227 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:18:57.351 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:18:57.354 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:18:57.354 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:21:47.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
16:21:47.938 INFO  [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator()
16:21:47.989 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
16:21:48.039 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
16:33:39.621 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
16:33:39.622 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-20 16:33:39.622030912 +02:00
16:33:39.622 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
16:33:39.622 DEBUG [robot_code/utilities/logging/src/logging.rs:137] 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_live_stitching": 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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
16:33:39.622 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
16:33:39.622 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_16-33-39_simulated_scout.lobsterlog")
16:33:39.628 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
16:33:39.913 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_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_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "sonar_location": [1.81926, 0.0, 0.00717], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0]})
16:33:39.913 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
16:33:39.914 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: false, 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] }
16:33:39.971 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_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_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "sonar_location": [1.81926, 0.0, 0.00717], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0]})
16:33:39.971 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
16:33:40.708 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_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_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "sonar_location": [1.81926, 0.0, 0.00717], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0]})
16:33:40.708 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
16:33:40.708 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
16:33:40.709 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
16:33:40.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
16:33:40.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
16:33:40.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
16:33:40.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
16:33:40.711 WARN  [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled
16:33:40.711 WARN  [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled
16:33:40.711 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
16:33:40.711 WARN  [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled
16:33:40.711 WARN  [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled
16:33:40.711 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_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_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "sonar_location": [1.81926, 0.0, 0.00717], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0]})
16:33:40.711 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
16:33:40.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
16:33:40.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
16:33:40.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
16:33:40.712 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
16:33:40.712 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 }
16:33:40.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
16:33:40.713 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 210721
16:33:40.713 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
16:33:40.713 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
16:33:40.713 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
16:33:40.713 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
16:33:40.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
16:33:40.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
16:33:40.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
16:33:40.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
16:33:40.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
16:33:40.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
16:33:40.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
16:33:40.716 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
16:33:40.716 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
16:33:40.717 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
16:33:40.718 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
16:33:40.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
16:33:40.720 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
16:33:40.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
16:33:40.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
16:33:40.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
16:33:40.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
16:33:40.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
16:33:40.724 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
16:33:40.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
16:33:40.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
16:33:40.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
16:33:40.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
16:33:40.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
16:33:40.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
16:33:40.727 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_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_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "sonar_location": [1.81926, 0.0, 0.00717], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0]})
16:33:40.727 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
16:33:40.727 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
16:33:40.727 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 }
16:33:40.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
16:33:40.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 210750
16:33:40.728 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
16:33:40.728 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
16:33:40.728 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
16:33:40.728 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 }
16:33:40.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
16:33:40.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 210751
16:33:40.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
16:33:40.994 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
16:33:40.994 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
16:33:40.995 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 }
16:33:40.995 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
16:33:40.995 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
16:33:40.995 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 210753
16:33:40.995 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
16:33:40.995 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
16:33:40.995 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 }
16:33:40.995 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
16:33:40.995 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 210755
16:33:40.995 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
16:33:40.997 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
16:33:40.997 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 }
16:33:40.997 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
16:33:40.997 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
16:33:40.997 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
16:33:40.997 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 210793
16:33:40.997 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
16:33:40.997 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
16:33:40.997 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
16:33:40.997 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
16:33:40.997 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
16:33:40.998 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
16:33:40.998 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 }
16:33:40.998 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
16:33:40.998 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
16:33:40.998 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 }
16:33:40.998 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 210798
16:33:40.998 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
16:33:40.998 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
16:33:40.998 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 }
16:33:40.998 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 210799
16:33:40.998 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
16:33:40.998 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 210800
16:33:41.015 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:33:41.015 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
16:33:41.021 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
16:33:41.022 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
16:33:41.022 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
16:33:41.022 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 }
16:33:41.023 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
16:33:41.023 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 210802
16:33:41.023 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
16:33:41.023 INFO  [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined
16:33:41.023 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator'
16:33:41.023 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
16:33:41.063 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:33:41.075 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:33:41.075 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:33:41.097 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:33:41.097 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:33:41.116 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:33:41.116 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:33:41.116 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:33:41.116 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:36:33.263 INFO  [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator()
16:36:33.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
16:36:33.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
16:36:51.785 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
16:36:51.785 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-20 16:36:51.785116284 +02:00
16:36:51.785 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
16:36:51.785 DEBUG [robot_code/utilities/logging/src/logging.rs:137] 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_live_stitching": 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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
16:36:51.785 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
16:36:51.785 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_16-36-51_simulated_scout.lobsterlog")
16:36:51.831 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
16:36:52.114 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725]})
16:36:52.114 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
16:36:52.115 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: false, 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] }
16:36:52.178 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725]})
16:36:52.179 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
16:36:52.893 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725]})
16:36:52.893 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
16:36:52.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
16:36:52.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
16:36:52.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
16:36:52.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
16:36:52.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
16:36:52.896 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
16:36:52.896 WARN  [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled
16:36:52.896 WARN  [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled
16:36:52.896 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
16:36:52.896 WARN  [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled
16:36:52.896 WARN  [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled
16:36:52.896 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725]})
16:36:52.896 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
16:36:52.896 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
16:36:52.897 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
16:36:52.898 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
16:36:52.898 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
16:36:52.898 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 }
16:36:52.899 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
16:36:52.899 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 211813
16:36:52.899 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
16:36:52.900 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
16:36:52.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
16:36:52.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
16:36:52.901 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
16:36:52.901 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
16:36:52.901 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
16:36:52.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
16:36:52.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
16:36:52.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
16:36:52.903 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
16:36:52.903 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
16:36:52.903 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
16:36:52.903 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
16:36:52.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
16:36:52.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
16:36:52.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
16:36:52.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
16:36:52.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
16:36:52.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
16:36:52.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
16:36:52.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
16:36:52.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
16:36:52.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
16:36:52.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
16:36:52.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
16:36:52.907 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
16:36:52.907 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
16:36:52.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
16:36:52.909 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725]})
16:36:52.909 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
16:36:52.909 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
16:36:52.909 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 }
16:36:52.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
16:36:52.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 211842
16:36:52.909 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
16:36:52.909 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
16:36:52.909 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
16:36:52.909 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 }
16:36:52.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
16:36:52.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 211843
16:36:52.940 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
16:36:53.117 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
16:36:53.117 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
16:36:53.117 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 }
16:36:53.117 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
16:36:53.117 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
16:36:53.117 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 211845
16:36:53.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
16:36:53.118 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
16:36:53.118 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 }
16:36:53.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
16:36:53.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 211847
16:36:53.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
16:36:53.119 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
16:36:53.119 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 }
16:36:53.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
16:36:53.119 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
16:36:53.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 211885
16:36:53.120 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
16:36:53.120 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
16:36:53.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
16:36:53.120 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
16:36:53.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
16:36:53.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
16:36:53.121 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
16:36:53.121 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 }
16:36:53.121 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
16:36:53.121 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
16:36:53.121 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 }
16:36:53.121 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 211890
16:36:53.121 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
16:36:53.121 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
16:36:53.121 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 211891
16:36:53.121 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 }
16:36:53.121 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
16:36:53.121 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 211892
16:36:53.138 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
16:36:53.138 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:36:53.143 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
16:36:53.143 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
16:36:53.144 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
16:36:53.144 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 }
16:36:53.144 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
16:36:53.144 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 211894
16:36:53.144 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
16:36:53.144 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
16:36:53.144 INFO  [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined
16:36:53.144 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator'
16:36:53.213 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:36:53.218 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:36:53.218 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:36:53.259 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:36:53.259 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:36:53.259 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:36:53.267 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:36:53.279 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:36:53.279 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:38:42.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
16:38:42.713 INFO  [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator()
16:38:42.730 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
16:38:42.771 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
16:38:43.143 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
16:38:43.166 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_state_publisher' stopped
16:38:43.281 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
16:39:01.807 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
16:39:01.807 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-20 16:39:01.807614295 +02:00
16:39:01.807 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
16:39:01.807 DEBUG [robot_code/utilities/logging/src/logging.rs:137] 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_live_stitching": 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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
16:39:01.807 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
16:39:01.807 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_16-39-01_simulated_scout.lobsterlog")
16:39:01.813 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
16:39:02.070 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048]})
16:39:02.070 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
16:39:02.071 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: false, 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] }
16:39:02.116 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048]})
16:39:02.116 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
16:39:02.893 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048]})
16:39:02.894 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
16:39:02.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
16:39:02.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
16:39:02.897 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
16:39:02.897 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
16:39:02.898 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
16:39:02.898 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
16:39:02.900 WARN  [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled
16:39:02.900 WARN  [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled
16:39:02.900 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
16:39:02.900 WARN  [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled
16:39:02.900 WARN  [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled
16:39:02.900 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048]})
16:39:02.900 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
16:39:02.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
16:39:02.901 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
16:39:02.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
16:39:02.905 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
16:39:02.905 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 }
16:39:02.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
16:39:02.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 212790
16:39:02.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
16:39:02.906 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
16:39:02.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
16:39:02.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
16:39:02.907 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
16:39:02.907 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
16:39:02.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
16:39:02.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
16:39:02.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
16:39:02.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
16:39:02.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
16:39:02.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
16:39:02.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
16:39:02.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
16:39:02.911 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
16:39:02.911 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
16:39:02.911 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
16:39:02.912 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
16:39:02.912 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
16:39:02.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
16:39:02.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
16:39:02.914 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
16:39:02.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
16:39:02.916 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
16:39:02.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
16:39:02.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
16:39:02.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
16:39:02.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
16:39:02.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
16:39:02.920 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048]})
16:39:02.920 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
16:39:02.920 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
16:39:02.920 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 }
16:39:02.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
16:39:02.921 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 212819
16:39:02.921 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
16:39:02.921 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
16:39:02.921 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
16:39:02.921 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 }
16:39:02.922 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
16:39:02.922 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 212820
16:39:02.953 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
16:39:03.309 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
16:39:03.310 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
16:39:03.310 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 }
16:39:03.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
16:39:03.310 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
16:39:03.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 212822
16:39:03.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
16:39:03.312 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
16:39:03.312 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 }
16:39:03.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
16:39:03.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 212824
16:39:03.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
16:39:03.315 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
16:39:03.315 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 }
16:39:03.315 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
16:39:03.315 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
16:39:03.315 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
16:39:03.315 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
16:39:03.315 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
16:39:03.316 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
16:39:03.316 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 212862
16:39:03.316 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
16:39:03.317 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
16:39:03.317 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 }
16:39:03.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
16:39:03.317 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
16:39:03.317 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 }
16:39:03.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
16:39:03.317 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
16:39:03.317 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 }
16:39:03.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
16:39:03.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 212866
16:39:03.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 212867
16:39:03.320 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
16:39:03.321 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 212868
16:39:03.322 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
16:39:03.329 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
16:39:03.330 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
16:39:03.332 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
16:39:03.332 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 }
16:39:03.332 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
16:39:03.332 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 212871
16:39:03.333 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
16:39:03.333 INFO  [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined
16:39:03.333 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator'
16:39:03.334 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
16:39:03.343 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:39:03.382 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:39:03.383 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:39:03.399 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:39:03.399 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:39:03.400 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:39:03.400 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:39:03.461 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
16:39:03.462 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:39:03.463 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
18:12:49.573 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
18:12:49.582 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
18:12:49.582 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
18:16:27.819 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:70] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101)
18:16:27.820 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:70] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101)
18:27:57.995 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping...
18:27:58.001 ERROR [robot_code/utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } got dropped, stopping associated threads...
18:27:58.001 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:70] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101)
18:27:58.001 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:70] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101)
18:27:58.044 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_state_publisher' stopped
18:27:58.055 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
18:27:58.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'task_scheduler' stopped
18:27:58.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
18:27:58.100 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped
18:27:58.102 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'state_estimator'
18:27:58.103 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'control'
18:27:58.103 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'control'
18:27:58.103 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'simulator'
18:27:58.501 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
18:27:59.001 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
18:28:08.029 WARN  [robot_code/robot_core/launch/src/lib.rs:462] Not stopped after 10 seconds, aborting program
20:56:36.986 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
20:56:36.987 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-20 20:56:36.987546692 +02:00
20:56:36.987 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
20:56:36.987 DEBUG [robot_code/utilities/logging/src/logging.rs:137] 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_live_stitching": 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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
20:56:36.987 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
20:56:36.987 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_20-56-36_simulated_scout.lobsterlog")
20:56:36.991 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
20:56:37.134 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"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], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0]})
20:56:37.134 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
20:56:37.135 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: false, 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] }
20:56:37.167 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"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], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0]})
20:56:37.167 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
20:56:37.569 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"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], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0]})
20:56:37.569 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
20:56:37.569 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
20:56:37.570 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
20:56:37.570 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
20:56:37.570 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
20:56:37.570 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
20:56:37.570 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
20:56:37.571 WARN  [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled
20:56:37.571 WARN  [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled
20:56:37.571 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
20:56:37.571 WARN  [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled
20:56:37.571 WARN  [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled
20:56:37.571 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"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], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0]})
20:56:37.571 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
20:56:37.571 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
20:56:37.571 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
20:56:37.571 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
20:56:37.572 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
20:56:37.572 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 }
20:56:37.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
20:56:37.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 23246
20:56:37.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
20:56:37.572 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
20:56:37.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
20:56:37.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
20:56:37.573 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
20:56:37.573 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
20:56:37.573 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
20:56:37.573 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
20:56:37.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
20:56:37.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
20:56:37.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
20:56:37.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
20:56:37.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
20:56:37.575 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
20:56:37.575 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
20:56:37.575 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
20:56:37.575 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
20:56:37.575 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
20:56:37.576 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
20:56:37.576 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
20:56:37.576 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
20:56:37.576 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
20:56:37.576 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
20:56:37.576 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
20:56:37.577 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
20:56:37.577 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
20:56:37.577 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
20:56:37.577 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
20:56:37.577 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
20:56:37.578 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"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], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0]})
20:56:37.578 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
20:56:37.578 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
20:56:37.578 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 }
20:56:37.578 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
20:56:37.578 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 23275
20:56:37.578 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
20:56:37.578 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
20:56:37.578 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
20:56:37.578 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 }
20:56:37.578 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
20:56:37.578 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 23276
20:56:37.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
20:56:37.687 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
20:56:37.687 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
20:56:37.687 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 }
20:56:37.687 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
20:56:37.687 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
20:56:37.687 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 23278
20:56:37.687 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
20:56:37.687 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
20:56:37.687 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 }
20:56:37.687 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
20:56:37.687 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 23280
20:56:37.688 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
20:56:37.689 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
20:56:37.689 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 }
20:56:37.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
20:56:37.689 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
20:56:37.689 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
20:56:37.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 23318
20:56:37.689 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
20:56:37.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
20:56:37.689 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
20:56:37.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
20:56:37.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
20:56:37.689 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
20:56:37.689 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 }
20:56:37.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
20:56:37.689 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
20:56:37.689 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 }
20:56:37.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 23323
20:56:37.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
20:56:37.689 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
20:56:37.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 23324
20:56:37.690 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 }
20:56:37.690 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
20:56:37.690 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 23325
20:56:37.707 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
20:56:37.707 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
20:56:37.710 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
20:56:37.710 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
20:56:37.710 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
20:56:37.710 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 }
20:56:37.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
20:56:37.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 23327
20:56:37.711 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
20:56:37.711 INFO  [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined
20:56:37.711 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator'
20:56:37.713 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
20:58:53.670 INFO  [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator()
20:58:53.678 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
20:58:53.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
20:58:53.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
20:58:53.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_state_publisher' stopped
20:58:53.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
20:58:53.895 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
20:58:55.650 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping...
20:58:55.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped
20:58:55.655 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'state_estimator'
20:58:55.655 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'control'
20:58:55.656 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'control'
20:58:55.656 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'simulator'
20:58:55.656 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'simulator'
20:58:55.656 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'path_planner'
21:02:17.059 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
21:02:17.060 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-20 21:02:17.060773266 +02:00
21:02:17.060 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
21:02:17.060 DEBUG [robot_code/utilities/logging/src/logging.rs:137] 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_live_stitching": 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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
21:02:17.060 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
21:02:17.060 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-02-17_simulated_scout.lobsterlog")
21:02:17.063 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
21:02:17.221 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_sidewards_thruster_location": [0.189, 0.0, 0.0], "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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595]})
21:02:17.221 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
21:02:17.221 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: false, 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] }
21:02:17.258 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_sidewards_thruster_location": [0.189, 0.0, 0.0], "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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595]})
21:02:17.258 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
21:02:17.781 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_sidewards_thruster_location": [0.189, 0.0, 0.0], "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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595]})
21:02:17.781 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
21:02:17.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
21:02:17.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
21:02:17.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
21:02:17.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
21:02:17.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
21:02:17.785 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
21:02:17.785 WARN  [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled
21:02:17.785 WARN  [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled
21:02:17.785 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
21:02:17.785 WARN  [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled
21:02:17.785 WARN  [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled
21:02:17.785 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_sidewards_thruster_location": [0.189, 0.0, 0.0], "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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595]})
21:02:17.785 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
21:02:17.785 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
21:02:17.785 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
21:02:17.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
21:02:17.786 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
21:02:17.786 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 }
21:02:17.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
21:02:17.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 8073
21:02:17.788 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
21:02:17.788 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
21:02:17.789 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
21:02:17.789 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
21:02:17.789 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
21:02:17.789 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
21:02:17.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
21:02:17.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
21:02:17.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
21:02:17.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
21:02:17.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
21:02:17.791 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
21:02:17.791 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
21:02:17.791 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
21:02:17.791 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
21:02:17.791 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
21:02:17.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
21:02:17.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
21:02:17.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
21:02:17.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
21:02:17.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
21:02:17.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
21:02:17.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
21:02:17.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
21:02:17.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
21:02:17.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
21:02:17.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
21:02:17.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
21:02:17.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
21:02:17.794 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_sidewards_thruster_location": [0.189, 0.0, 0.0], "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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595]})
21:02:17.794 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
21:02:17.794 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
21:02:17.794 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 }
21:02:17.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
21:02:17.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 8102
21:02:17.794 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
21:02:17.794 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
21:02:17.794 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
21:02:17.794 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 }
21:02:17.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
21:02:17.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 8103
21:02:17.827 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
21:02:17.968 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
21:02:17.969 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
21:02:17.969 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 }
21:02:17.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
21:02:17.969 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
21:02:17.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 8116
21:02:17.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
21:02:17.971 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
21:02:17.971 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 }
21:02:17.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
21:02:17.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 8118
21:02:17.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
21:02:17.974 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
21:02:17.974 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 }
21:02:17.974 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
21:02:17.974 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
21:02:17.974 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
21:02:17.974 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
21:02:17.974 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 8156
21:02:17.974 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
21:02:17.974 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
21:02:17.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
21:02:17.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
21:02:17.976 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
21:02:17.976 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 }
21:02:17.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
21:02:17.976 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
21:02:17.976 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 }
21:02:17.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
21:02:17.976 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
21:02:17.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 8161
21:02:17.976 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 }
21:02:17.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 8162
21:02:17.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
21:02:17.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 8163
21:02:17.989 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
21:02:17.989 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
21:02:17.992 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
21:02:17.992 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
21:02:17.993 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
21:02:17.993 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 }
21:02:17.993 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
21:02:17.993 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 8165
21:02:17.993 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
21:02:17.993 INFO  [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined
21:02:17.993 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator'
21:02:17.993 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
21:02:18.031 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
21:02:18.049 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
21:02:18.049 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
21:03:02.099 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
21:03:02.099 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AddTask(Transect: 'transect')
21:03:06.586 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Disengage
21:03:13.086 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Disengage
21:03:19.486 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Disengage
21:03:20.090 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Disengage
21:03:20.211 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Disengage
21:03:20.453 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Disengage
21:03:20.674 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Disengage
21:03:20.956 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Engage
21:03:20.956 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
21:03:20.976 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task'
21:03:21.036 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
21:03:21.037 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: ec05c990-3720-4748-9814-4110c8392ffb, 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 }) })]
21:03:21.037 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: ec05c990-3720-4748-9814-4110c8392ffb, 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 }) })]
21:03:21.047 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: ec05c990-3720-4748-9814-4110c8392ffb, start_time: Some(62.76 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)
21:03:21.047 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
21:03:21.047 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: eaa87c6b-7775-45cf-98fe-d57d7bf64ee2)"), mode: None }
21:03:21.047 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-03-20_Upright task/2025-08-20_21-03-20_Upright task_rust.log"
21:03:21.047 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-20_21-03-20_Upright task
21:03:21.067 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849563982347585, Enable control depth: 0.2, Depth control enabled: true
21:03:21.067 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
21:03:21.067 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: ec05c990-3720-4748-9814-4110c8392ffb, start_time: Some(62.76 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)
21:03:21.067 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
21:03:21.067 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: 0.09849563982347585 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
21:03:21.077 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: ec05c990-3720-4748-9814-4110c8392ffb, start_time: Some(62.76 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 }) })
21:03:21.087 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
21:03:21.087 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
21:03:21.137 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))]
21:03:21.137 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))]
21:03:21.137 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Started)
21:03:21.137 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
21:03:21.137 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 'transect'', id: 4722be08-a336-4af4-babc-280198272d74)"), mode: None }
21:03:21.137 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-20_21-03-20_Upright task")
21:03:21.137 INFO  [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }
21:03:21.138 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-03-21_move to start of \'transect\'/2025-08-20_21-03-21_move to start of \'transect\'_rust.log"
21:03:21.138 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-20_21-03-21_move to start of 'transect'
21:03:21.138 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:553] Starting task 'move to start of 'transect'', to prepare for Transect task 'transect'
21:03:21.168 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849563939811819, Enable control depth: 0.2, Depth control enabled: true
21:03:21.168 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.0 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: 0.9084185117552885, lon: 0.07629707201671924 }), update_count: 1 } }), hold_duration: None } }]
21:03:21.168 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
21:03:21.168 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -40.03053638031106 m^1, east: -109.57491103109354 m^1, down: 0.09849563939811819 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), update_count: 1 } }
21:03:21.168 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })
21:03:21.168 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Preparing)
21:03:21.168 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
21:03:21.177 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:03:21.981 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20468092939712612, Enable control depth: 0.2, Depth control enabled: false
21:03:21.981 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller
21:03:23.531 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
21:03:45.791 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: 0.9084185117552885, lon: 0.07629707201671924 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }]
21:03:45.791 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })
21:03:45.791 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:03:45.811 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:03:47.823 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:03:47.843 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:03:49.856 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:03:49.876 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:03:51.888 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:03:51.908 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:03:53.940 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:03:53.960 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:03:55.973 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:03:55.993 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:03:58.005 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:03:58.025 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:00.037 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:00.057 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:02.090 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:02.110 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:04.122 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:04.142 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:06.154 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:06.174 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:08.186 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:08.206 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:10.237 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:10.257 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:12.269 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:12.289 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:14.302 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:14.322 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:16.334 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:16.354 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:18.386 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:18.406 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:20.418 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:20.438 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:22.450 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:22.470 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:24.482 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:24.502 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:26.534 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:26.534 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:28.547 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:28.567 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:30.579 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:30.599 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:32.611 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:32.632 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:34.643 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:34.663 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:36.696 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:36.716 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:38.729 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:38.749 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:40.760 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:40.781 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:42.793 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:42.813 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:44.845 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:44.845 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:46.876 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:46.896 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:48.909 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:48.928 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:50.940 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:50.960 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:52.993 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:53.013 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:55.025 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:55.045 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:57.058 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:57.078 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:04:59.090 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:04:59.110 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:01.142 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:01.162 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:03.175 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:03.195 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:05.207 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:05.227 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:07.239 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:07.259 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:09.291 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:09.311 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:11.322 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:11.323 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:13.356 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:13.375 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:15.387 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:15.407 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:17.439 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:17.458 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:19.470 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:19.490 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:21.502 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:21.522 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:23.533 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:23.553 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:25.585 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:25.606 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:27.617 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:27.637 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:29.649 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:29.669 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:31.680 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:31.700 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:33.734 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:33.754 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:35.766 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:35.786 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:37.798 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:37.818 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:39.830 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:39.850 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:41.883 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:41.903 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:43.914 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
21:05:43.935 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:45.845 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })
21:05:45.845 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 })), Finished)
21:05:45.845 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: 0.9084185117552885, lon: 0.07629707201671924 }), max_velocity: 1.0 m^1 s^-1 }))
21:05:45.846 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a Transect task 'transect'
21:05:45.866 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
21:05:45.866 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
21:05:45.906 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
21:05:45.906 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))]
21:05:45.906 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))]
21:05:45.906 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Started)
21:05:45.907 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
21:05:45.907 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-20_21-03-21_move to start of 'transect'")
21:05:45.907 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Transect, name: 'transect', id: e5634393-4122-4e80-a1a9-2984851ebfd2)"), mode: None }
21:05:45.908 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-05-45_transect/2025-08-20_21-05-45_transect_rust.log"
21:05:45.908 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-20_21-05-45_transect
21:05:45.937 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
21:05:45.937 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.030287244421852 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: 0.9084185117552885, lon: 0.07629707201671924 }), update_count: 1 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
21:05:45.937 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.054988713341858765 m^1, east: 0.15052182008301496 m^1, down: 5.030287244421852 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), update_count: 1 } }
21:05:45.937 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })
21:05:45.937 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Preparing)
21:05:45.946 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:06:16.876 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), update_count: 1 } }, end: PositionNE { north: 18.028617904567064 m^1, east: -86.00633964841923 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None } }]
21:06:16.876 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })
21:06:16.876 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:06:16.896 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:06:16.936 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-05-45_transect/photos/mocked_image_0.raw"
21:06:18.904 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:06:18.925 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:06:19.868 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
21:06:20.953 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:06:20.973 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:06:21.757 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-05-45_transect/photos/mocked_image_1.raw"
21:06:22.981 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:06:23.001 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:06:24.267 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-05-45_transect/photos/mocked_image_3.raw"
21:06:25.010 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:06:25.030 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:06:26.677 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-05-45_transect/photos/mocked_image_5.raw"
21:06:27.039 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:06:27.059 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:06:29.088 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:06:29.108 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:06:29.289 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-05-45_transect/photos/mocked_image_7.raw"
21:06:30.816 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: Disengage
21:06:30.816 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:528] Cancelling goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084185117552885, lon: 0.07629707201671924 }, end: PositionGeodetic { lat: 0.9084213395674978, lon: 0.07627519128384382 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))]
21:06:30.816 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:154] Disengaging TaskExecutor
21:06:30.816 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
21:06:30.816 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
21:06:30.896 INFO  [robot_code/peripherals/payload/src/position_camera.rs:224] Stopping PositionCamera recording, because receiver stopped
21:06:30.896 DEBUG [robot_code/peripherals/payload/src/lib.rs:94] Joined payload session thread: Some(Ok(()))
21:06:30.896 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:39] Camera trigger responder stopped: RecvError
21:06:30.896 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-20_21-05-45_transect")
21:06:30.896 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("IdleMode") }
21:15:33.249 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
21:15:33.255 INFO  [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator()
21:15:33.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
21:15:33.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
21:15:33.912 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
21:15:34.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
21:15:34.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_state_publisher' stopped
21:15:35.235 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping...
21:15:35.252 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped
21:15:35.253 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'state_estimator'
21:15:35.253 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'control'
21:15:35.253 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'control'
21:15:35.253 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'simulator'
21:15:35.253 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'simulator'
21:15:35.253 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'path_planner'
21:16:11.678 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
21:16:11.678 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-20 21:16:11.678236826 +02:00
21:16:11.678 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
21:16:11.678 DEBUG [robot_code/utilities/logging/src/logging.rs:137] 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_live_stitching": 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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
21:16:11.678 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
21:16:11.678 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-16-11_simulated_scout.lobsterlog")
21:16:11.688 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
21:16:11.865 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_location": [0.93573, 0.00255, -0.17048], "gps_2_location": [1.05957, -0.00255, -0.20834], "magnetometer_location": [1.06914, 0.00188, -0.20086], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
21:16:11.865 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
21:16:11.866 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: false, 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] }
21:16:11.902 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_location": [0.93573, 0.00255, -0.17048], "gps_2_location": [1.05957, -0.00255, -0.20834], "magnetometer_location": [1.06914, 0.00188, -0.20086], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
21:16:11.902 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
21:16:12.478 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_location": [0.93573, 0.00255, -0.17048], "gps_2_location": [1.05957, -0.00255, -0.20834], "magnetometer_location": [1.06914, 0.00188, -0.20086], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
21:16:12.479 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
21:16:12.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
21:16:12.480 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
21:16:12.480 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
21:16:12.480 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
21:16:12.481 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
21:16:12.481 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
21:16:12.481 WARN  [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled
21:16:12.481 WARN  [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled
21:16:12.481 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
21:16:12.481 WARN  [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled
21:16:12.481 WARN  [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled
21:16:12.481 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_location": [0.93573, 0.00255, -0.17048], "gps_2_location": [1.05957, -0.00255, -0.20834], "magnetometer_location": [1.06914, 0.00188, -0.20086], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
21:16:12.481 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
21:16:12.481 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
21:16:12.482 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
21:16:12.482 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
21:16:12.483 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
21:16:12.483 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 }
21:16:12.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
21:16:12.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 13544
21:16:12.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
21:16:12.483 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
21:16:12.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
21:16:12.484 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
21:16:12.484 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
21:16:12.484 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
21:16:12.485 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
21:16:12.486 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
21:16:12.486 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
21:16:12.486 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
21:16:12.486 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
21:16:12.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
21:16:12.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
21:16:12.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
21:16:12.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
21:16:12.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
21:16:12.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
21:16:12.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
21:16:12.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
21:16:12.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
21:16:12.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
21:16:12.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
21:16:12.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
21:16:12.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
21:16:12.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
21:16:12.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
21:16:12.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
21:16:12.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
21:16:12.492 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
21:16:12.492 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_location": [0.93573, 0.00255, -0.17048], "gps_2_location": [1.05957, -0.00255, -0.20834], "magnetometer_location": [1.06914, 0.00188, -0.20086], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
21:16:12.492 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
21:16:12.492 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
21:16:12.492 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 }
21:16:12.492 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
21:16:12.492 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 13573
21:16:12.492 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
21:16:12.492 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
21:16:12.492 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
21:16:12.492 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 }
21:16:12.492 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
21:16:12.492 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 13574
21:16:12.523 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
21:16:12.648 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
21:16:12.648 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
21:16:12.648 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 }
21:16:12.648 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
21:16:12.648 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
21:16:12.648 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 13576
21:16:12.648 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
21:16:12.649 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
21:16:12.649 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 }
21:16:12.649 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
21:16:12.649 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 13578
21:16:12.649 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
21:16:12.651 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
21:16:12.651 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 }
21:16:12.651 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
21:16:12.651 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
21:16:12.651 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
21:16:12.651 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 13616
21:16:12.651 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
21:16:12.651 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
21:16:12.651 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
21:16:12.651 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
21:16:12.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
21:16:12.652 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
21:16:12.652 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 }
21:16:12.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
21:16:12.652 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
21:16:12.652 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 }
21:16:12.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 13621
21:16:12.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
21:16:12.652 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
21:16:12.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 13622
21:16:12.652 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 }
21:16:12.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
21:16:12.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 13623
21:16:12.668 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
21:16:12.669 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
21:16:12.670 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
21:16:12.670 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
21:16:12.671 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
21:16:12.671 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 }
21:16:12.671 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
21:16:12.671 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 13625
21:16:12.671 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
21:16:12.671 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
21:16:12.671 INFO  [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined
21:16:12.672 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator'
21:16:12.900 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
21:16:12.900 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {}
21:16:12.900 INFO  [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings
21:16:12.910 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
21:16:12.910 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
21:16:39.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
21:16:39.479 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AddTask(Transect: 'transect (1)')
21:16:47.832 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Engage
21:16:47.832 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
21:16:47.852 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task'
21:16:47.892 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
21:16:47.893 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 2d1bc89d-410e-4b58-be0d-0fe1ce06447b, 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 }) })]
21:16:47.893 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 2d1bc89d-410e-4b58-be0d-0fe1ce06447b, 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 }) })]
21:16:47.903 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 2d1bc89d-410e-4b58-be0d-0fe1ce06447b, start_time: Some(35.06 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)
21:16:47.903 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
21:16:47.903 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: 21a233a7-2a65-4c9e-8a81-f8dc9f098618)"), mode: None }
21:16:47.903 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-16-47_Upright task/2025-08-20_21-16-47_Upright task_rust.log"
21:16:47.903 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-20_21-16-47_Upright task
21:16:47.923 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849820619505323, Enable control depth: 0.2, Depth control enabled: true
21:16:47.924 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
21:16:47.924 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
21:16:47.924 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: 0.09849820619505323 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
21:16:47.924 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 2d1bc89d-410e-4b58-be0d-0fe1ce06447b, start_time: Some(35.06 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)
21:16:47.932 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 2d1bc89d-410e-4b58-be0d-0fe1ce06447b, start_time: Some(35.06 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 }) })
21:16:47.932 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a Transect task 'transect (1)'
21:16:47.943 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
21:16:47.943 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
21:16:47.993 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))]
21:16:47.993 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))]
21:16:47.993 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Started)
21:16:47.993 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
21:16:47.993 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-20_21-16-47_Upright task")
21:16:47.993 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Transect, name: 'transect (1)', id: e3bb3d4d-163b-43ed-a280-22a5a619615f)"), mode: None }
21:16:47.994 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-16-47_transect (1)/2025-08-20_21-16-47_transect (1)_rust.log"
21:16:47.994 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-20_21-16-47_transect (1)
21:16:48.023 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849579902305115, Enable control depth: 0.2, Depth control enabled: true
21:16:48.023 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -0.06783165812812132 m^1, east: 0.5154330337732945 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: -0.06783165812812132 m^1, east: 0.5154330337732945 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: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
21:16:48.023 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Preparing)
21:16:48.023 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
21:16:48.024 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
21:16:48.024 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: 0.09849579902305115 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
21:16:48.024 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })
21:16:48.032 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:16:48.836 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20468034556466463, Enable control depth: 0.2, Depth control enabled: false
21:16:48.836 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller
21:16:50.382 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
21:17:33.508 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -0.06783165812812132 m^1, east: 0.5154330337732945 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 1.220212969055634 m^1, east: -6.402699121738874 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: None } }]
21:17:33.508 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:17:33.509 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })
21:17:33.528 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:17:33.589 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-16-47_transect (1)/photos/mocked_image_0.raw"
21:17:35.545 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:17:35.565 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:17:37.577 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:17:37.597 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:17:39.625 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:17:39.625 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:17:41.654 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:17:41.674 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:17:43.682 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:17:43.702 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:17:43.943 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
21:17:45.710 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:17:45.710 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:17:45.851 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-16-47_transect (1)/photos/mocked_image_1.raw"
21:17:47.759 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:17:47.779 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:17:48.361 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-16-47_transect (1)/photos/mocked_image_3.raw"
21:17:49.788 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:17:49.808 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:17:50.774 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-16-47_transect (1)/photos/mocked_image_5.raw"
21:17:51.818 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:17:51.838 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:17:53.389 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-16-47_transect (1)/photos/mocked_image_7.raw"
21:17:53.851 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:17:53.851 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:17:55.900 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:17:55.920 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:17:56.000 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-16-47_transect (1)/photos/mocked_image_9.raw"
21:17:57.934 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:17:57.954 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:17:58.617 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-16-47_transect (1)/photos/mocked_image_11.raw"
21:17:59.963 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:17:59.984 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:18:01.234 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-16-47_transect (1)/photos/mocked_image_13.raw"
21:18:01.897 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete
21:18:01.937 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Finished)
21:18:01.937 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })
21:18:01.937 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:18:01.937 WARN  [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now
21:18:01.957 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:39] Camera trigger responder stopped: RecvError
21:18:01.957 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
21:18:01.957 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
21:18:01.957 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
21:18:01.957 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Started)
21:18:01.957 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-20_21-16-47_transect (1)")
21:18:01.957 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
21:18:01.957 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'waiting, hold position', id: 6a05a44b-e705-48f6-8efb-1d9a22bbdf46)"), mode: None }
21:18:01.958 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-18-01_waiting, hold position/2025-08-20_21-18-01_waiting, hold position_rust.log"
21:18:01.958 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-20_21-18-01_waiting, hold position
21:18:01.958 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position'
21:18:01.977 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 1.2086313745088 m^1, east: -6.333550584524285 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 } }]
21:18:01.977 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Preparing)
21:18:01.977 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })
21:18:01.997 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) }))
21:18:12.195 INFO  [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator()
21:18:12.213 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
21:18:12.221 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
21:18:12.226 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
21:18:12.670 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
21:18:12.682 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_state_publisher' stopped
21:18:12.805 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
21:18:14.175 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping...
21:18:14.175 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped
21:18:14.176 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'state_estimator'
21:18:14.176 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'control'
21:18:14.176 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'control'
21:18:14.176 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'simulator'
21:18:14.176 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'simulator'
21:18:14.176 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'path_planner'
21:18:22.682 WARN  [robot_code/robot_core/launch/src/lib.rs:462] Not stopped after 10 seconds, aborting program
21:18:47.280 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
21:18:47.280 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-20 21:18:47.280710127 +02:00
21:18:47.280 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
21:18:47.280 DEBUG [robot_code/utilities/logging/src/logging.rs:137] 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_live_stitching": 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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
21:18:47.280 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
21:18:47.280 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-18-47_simulated_scout.lobsterlog")
21:18:47.289 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
21:18:47.446 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_front_location": [1.1187, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
21:18:47.446 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
21:18:47.447 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: false, 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] }
21:18:47.479 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_front_location": [1.1187, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
21:18:47.479 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
21:18:47.967 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_front_location": [1.1187, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
21:18:47.967 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
21:18:47.967 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
21:18:47.967 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
21:18:47.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
21:18:47.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
21:18:47.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
21:18:47.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
21:18:47.968 WARN  [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled
21:18:47.968 WARN  [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled
21:18:47.968 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
21:18:47.968 WARN  [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled
21:18:47.968 WARN  [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled
21:18:47.968 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_front_location": [1.1187, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
21:18:47.969 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
21:18:47.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
21:18:47.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
21:18:47.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
21:18:47.970 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
21:18:47.970 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 }
21:18:47.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
21:18:47.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 14795
21:18:47.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
21:18:47.970 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
21:18:47.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
21:18:47.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
21:18:47.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
21:18:47.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
21:18:47.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
21:18:47.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
21:18:47.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
21:18:47.972 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
21:18:47.972 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
21:18:47.972 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
21:18:47.972 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
21:18:47.972 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
21:18:47.973 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
21:18:47.973 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
21:18:47.973 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
21:18:47.973 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
21:18:47.973 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
21:18:47.973 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
21:18:47.974 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
21:18:47.974 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
21:18:47.974 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
21:18:47.974 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
21:18:47.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
21:18:47.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
21:18:47.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
21:18:47.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
21:18:47.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
21:18:47.976 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_front_location": [1.1187, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
21:18:47.976 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
21:18:47.976 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
21:18:47.976 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 }
21:18:47.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
21:18:47.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 14824
21:18:47.976 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
21:18:47.976 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
21:18:47.976 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
21:18:47.976 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 }
21:18:47.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
21:18:47.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 14825
21:18:48.006 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
21:18:48.123 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
21:18:48.123 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
21:18:48.123 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 }
21:18:48.124 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
21:18:48.124 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
21:18:48.124 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 14828
21:18:48.124 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
21:18:48.124 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
21:18:48.124 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 }
21:18:48.124 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
21:18:48.124 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 14830
21:18:48.124 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
21:18:48.125 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
21:18:48.125 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 }
21:18:48.125 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
21:18:48.125 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
21:18:48.126 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 14868
21:18:48.126 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
21:18:48.126 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
21:18:48.126 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
21:18:48.126 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
21:18:48.126 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
21:18:48.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
21:18:48.127 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
21:18:48.127 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 }
21:18:48.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
21:18:48.127 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
21:18:48.127 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 }
21:18:48.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
21:18:48.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 14873
21:18:48.127 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
21:18:48.127 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 }
21:18:48.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 14874
21:18:48.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 14875
21:18:48.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
21:18:48.144 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
21:18:48.144 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
21:18:48.146 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
21:18:48.146 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
21:18:48.146 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
21:18:48.146 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 }
21:18:48.146 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
21:18:48.147 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 14877
21:18:48.147 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
21:18:48.147 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
21:18:48.147 INFO  [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined
21:18:48.147 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator'
21:18:48.379 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
21:18:48.379 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {}
21:18:48.379 INFO  [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings
21:18:48.385 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
21:18:48.385 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
21:19:37.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
21:19:37.792 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AddTask(Transect: 'transect (1)')
21:19:38.959 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Engage
21:19:38.959 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
21:19:38.979 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task'
21:19:39.019 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
21:19:39.019 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: fcef72e6-d1ca-46d7-a8a3-842511f5155c, 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 }) })]
21:19:39.019 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: fcef72e6-d1ca-46d7-a8a3-842511f5155c, 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 }) })]
21:19:39.030 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: fcef72e6-d1ca-46d7-a8a3-842511f5155c, start_time: Some(50.62 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)
21:19:39.030 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
21:19:39.030 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: e3591a35-83ea-4a20-91b2-7fa79079bc1c)"), mode: None }
21:19:39.030 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-19-38_Upright task/2025-08-20_21-19-38_Upright task_rust.log"
21:19:39.030 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-20_21-19-38_Upright task
21:19:39.060 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.0984956414535865, Enable control depth: 0.2, Depth control enabled: true
21:19:39.060 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: fcef72e6-d1ca-46d7-a8a3-842511f5155c, start_time: Some(50.62 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)
21:19:39.060 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
21:19:39.060 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
21:19:39.060 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: 0.0984956414535865 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
21:19:39.080 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: fcef72e6-d1ca-46d7-a8a3-842511f5155c, start_time: Some(50.62 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 }) })
21:19:39.080 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a Transect task 'transect (1)'
21:19:39.100 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))]
21:19:39.100 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Started)
21:19:39.100 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))]
21:19:39.101 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
21:19:39.101 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-20_21-19-38_Upright task")
21:19:39.101 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Transect, name: 'transect (1)', id: e3bb3d4d-163b-43ed-a280-22a5a619615f)"), mode: None }
21:19:39.101 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-19-39_transect (1)/2025-08-20_21-19-39_transect (1)_rust.log"
21:19:39.101 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-20_21-19-39_transect (1)
21:19:39.120 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -0.06783165812812132 m^1, east: 0.5154330337732945 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: -0.06783165812812132 m^1, east: 0.5154330337732945 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: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
21:19:39.120 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Preparing)
21:19:39.120 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })
21:19:39.140 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:19:39.963 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20464858656850637, Enable control depth: 0.2, Depth control enabled: false
21:19:39.964 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller
21:19:41.510 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
21:20:24.780 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -0.06783165812812132 m^1, east: 0.5154330337732945 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 1.220212969055634 m^1, east: -6.402699121738874 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: None } }]
21:20:24.780 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })
21:20:24.782 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:20:24.800 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:20:24.901 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-19-39_transect (1)/photos/mocked_image_0.raw"
21:20:26.859 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:20:26.880 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:20:28.888 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:20:28.908 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:20:30.937 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:20:30.957 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:20:32.966 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:20:32.986 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:20:34.995 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:20:34.995 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:20:35.256 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
21:20:37.024 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:20:37.044 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:20:37.204 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-19-39_transect (1)/photos/mocked_image_1.raw"
21:20:39.072 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:20:39.072 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:20:39.716 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-19-39_transect (1)/photos/mocked_image_3.raw"
21:20:41.103 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:20:41.123 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:20:42.127 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-19-39_transect (1)/photos/mocked_image_5.raw"
21:20:43.132 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:20:43.152 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:20:44.739 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-19-39_transect (1)/photos/mocked_image_7.raw"
21:20:45.160 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:20:45.181 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:20:47.209 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:20:47.230 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:20:47.350 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-19-39_transect (1)/photos/mocked_image_9.raw"
21:20:49.238 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:20:49.238 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:20:49.278 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: Disengage
21:20:49.278 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:154] Disengaging TaskExecutor
21:20:49.318 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:528] Cancelling goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))]
21:20:49.318 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
21:20:49.319 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
21:20:49.359 INFO  [robot_code/peripherals/payload/src/position_camera.rs:224] Stopping PositionCamera recording, because receiver stopped
21:20:49.359 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:39] Camera trigger responder stopped: RecvError
21:20:49.359 DEBUG [robot_code/peripherals/payload/src/lib.rs:94] Joined payload session thread: Some(Ok(()))
21:20:49.359 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-20_21-19-39_transect (1)")
21:20:49.359 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("IdleMode") }
21:24:23.798 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
21:24:23.800 INFO  [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator()
21:24:23.807 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
21:24:23.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
21:25:27.996 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
21:25:27.996 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-20 21:25:27.996912991 +02:00
21:25:27.996 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
21:25:27.996 DEBUG [robot_code/utilities/logging/src/logging.rs:137] 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_live_stitching": 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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
21:25:27.997 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
21:25:27.997 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-25-27_simulated_scout.lobsterlog")
21:25:28.001 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
21:25:28.164 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "ps_location": [1.28577, 0.0, 0.06725], "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]})
21:25:28.164 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
21:25:28.165 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: false, 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] }
21:25:28.194 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "ps_location": [1.28577, 0.0, 0.06725], "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]})
21:25:28.194 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
21:25:28.657 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "ps_location": [1.28577, 0.0, 0.06725], "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]})
21:25:28.657 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
21:25:28.657 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
21:25:28.657 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
21:25:28.658 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
21:25:28.658 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
21:25:28.658 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
21:25:28.658 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
21:25:28.658 WARN  [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled
21:25:28.658 WARN  [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled
21:25:28.658 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
21:25:28.658 WARN  [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled
21:25:28.658 WARN  [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled
21:25:28.658 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "ps_location": [1.28577, 0.0, 0.06725], "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]})
21:25:28.658 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
21:25:28.658 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
21:25:28.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
21:25:28.660 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
21:25:28.660 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
21:25:28.660 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 }
21:25:28.661 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
21:25:28.661 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 16765
21:25:28.661 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
21:25:28.661 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
21:25:28.661 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
21:25:28.662 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
21:25:28.662 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
21:25:28.662 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
21:25:28.663 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
21:25:28.663 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
21:25:28.663 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
21:25:28.663 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
21:25:28.663 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
21:25:28.663 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
21:25:28.664 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
21:25:28.664 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
21:25:28.664 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
21:25:28.664 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
21:25:28.665 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
21:25:28.665 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
21:25:28.665 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
21:25:28.665 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
21:25:28.665 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
21:25:28.666 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
21:25:28.666 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
21:25:28.666 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
21:25:28.666 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
21:25:28.667 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
21:25:28.667 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
21:25:28.667 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
21:25:28.667 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
21:25:28.668 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "ps_location": [1.28577, 0.0, 0.06725], "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]})
21:25:28.668 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
21:25:28.668 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
21:25:28.668 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 }
21:25:28.668 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
21:25:28.668 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 16794
21:25:28.668 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
21:25:28.668 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
21:25:28.668 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
21:25:28.668 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 }
21:25:28.668 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
21:25:28.668 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 16795
21:25:28.698 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
21:25:28.806 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
21:25:28.806 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
21:25:28.806 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 }
21:25:28.807 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
21:25:28.807 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
21:25:28.807 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 16797
21:25:28.807 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
21:25:28.807 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
21:25:28.807 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 }
21:25:28.807 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
21:25:28.807 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 16799
21:25:28.808 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
21:25:28.809 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
21:25:28.809 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 }
21:25:28.809 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
21:25:28.809 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
21:25:28.809 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
21:25:28.809 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 16837
21:25:28.809 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
21:25:28.809 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
21:25:28.809 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
21:25:28.810 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
21:25:28.810 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
21:25:28.810 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
21:25:28.810 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 }
21:25:28.810 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
21:25:28.810 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
21:25:28.810 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 }
21:25:28.810 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
21:25:28.810 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
21:25:28.810 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 }
21:25:28.810 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 16842
21:25:28.811 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 16843
21:25:28.811 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
21:25:28.811 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 16844
21:25:28.827 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
21:25:28.827 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
21:25:28.830 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
21:25:28.830 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
21:25:28.830 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
21:25:28.830 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 }
21:25:28.830 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
21:25:28.830 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 16846
21:25:28.830 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
21:25:28.831 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
21:25:28.831 INFO  [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined
21:25:28.831 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator'
21:25:28.867 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
21:25:28.867 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
21:25:29.067 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
21:25:29.068 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {}
21:25:29.068 INFO  [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings
21:25:29.069 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
21:25:29.069 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
21:25:34.599 INFO  [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator()
21:25:34.605 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
21:25:34.616 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
21:25:34.818 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
21:25:34.828 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_state_publisher' stopped
21:25:34.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
21:25:34.839 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
21:25:36.579 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping...
21:25:36.580 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped
21:25:36.580 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'state_estimator'
21:25:36.580 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'control'
21:25:36.580 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'control'
21:25:36.580 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'simulator'
21:25:36.580 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'simulator'
21:25:36.580 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'path_planner'
21:25:43.098 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
21:25:43.098 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-20 21:25:43.098763786 +02:00
21:25:43.098 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
21:25:43.098 DEBUG [robot_code/utilities/logging/src/logging.rs:137] 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_live_stitching": 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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
21:25:43.098 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
21:25:43.098 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-25-43_simulated_scout.lobsterlog")
21:25:43.103 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
21:25:43.236 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595]})
21:25:43.236 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
21:25:43.237 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: false, 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] }
21:25:43.261 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595]})
21:25:43.261 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
21:25:43.698 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595]})
21:25:43.698 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
21:25:43.698 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
21:25:43.698 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
21:25:43.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
21:25:43.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
21:25:43.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
21:25:43.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
21:25:43.699 WARN  [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled
21:25:43.699 WARN  [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled
21:25:43.699 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
21:25:43.699 WARN  [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled
21:25:43.699 WARN  [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled
21:25:43.699 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595]})
21:25:43.699 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
21:25:43.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
21:25:43.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
21:25:43.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
21:25:43.701 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
21:25:43.701 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 }
21:25:43.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
21:25:43.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 16934
21:25:43.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
21:25:43.701 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
21:25:43.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
21:25:43.702 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
21:25:43.702 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
21:25:43.702 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
21:25:43.702 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
21:25:43.703 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
21:25:43.703 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
21:25:43.703 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
21:25:43.703 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
21:25:43.703 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
21:25:43.704 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
21:25:43.704 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
21:25:43.704 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
21:25:43.704 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
21:25:43.705 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
21:25:43.705 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
21:25:43.705 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
21:25:43.705 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
21:25:43.706 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
21:25:43.706 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
21:25:43.706 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
21:25:43.707 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
21:25:43.707 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
21:25:43.707 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
21:25:43.707 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
21:25:43.708 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
21:25:43.708 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
21:25:43.708 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595]})
21:25:43.708 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
21:25:43.708 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
21:25:43.708 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 }
21:25:43.708 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
21:25:43.708 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 16963
21:25:43.708 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
21:25:43.708 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
21:25:43.708 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
21:25:43.708 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 }
21:25:43.708 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
21:25:43.708 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 16964
21:25:43.739 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
21:25:43.880 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
21:25:43.880 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
21:25:43.880 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 }
21:25:43.880 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
21:25:43.880 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
21:25:43.880 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 17005
21:25:43.880 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
21:25:43.881 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
21:25:43.881 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 }
21:25:43.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
21:25:43.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 17007
21:25:43.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
21:25:43.883 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
21:25:43.883 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 }
21:25:43.883 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
21:25:43.883 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
21:25:43.883 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
21:25:43.883 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 17045
21:25:43.883 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
21:25:43.883 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
21:25:43.883 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
21:25:43.883 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
21:25:43.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
21:25:43.884 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
21:25:43.884 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 }
21:25:43.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
21:25:43.884 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
21:25:43.884 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 }
21:25:43.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
21:25:43.884 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
21:25:43.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 17050
21:25:43.884 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 }
21:25:43.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 17051
21:25:43.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
21:25:43.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 17052
21:25:43.901 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
21:25:43.901 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
21:25:43.907 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
21:25:43.907 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
21:25:43.908 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
21:25:43.908 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 }
21:25:43.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
21:25:43.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 17054
21:25:43.908 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
21:25:43.908 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
21:25:43.908 INFO  [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined
21:25:43.908 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator'
21:25:44.153 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {}
21:25:44.153 INFO  [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings
21:25:44.158 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
21:25:44.162 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
21:25:44.162 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
21:25:52.533 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
21:25:52.534 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AddTask(Transect: 'transect (1)')
21:25:53.861 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Engage
21:25:53.862 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
21:25:53.882 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task'
21:25:53.922 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
21:25:53.922 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 2f98b152-9fd7-45e9-8ed2-793635e89373, 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 }) })]
21:25:53.922 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 2f98b152-9fd7-45e9-8ed2-793635e89373, 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 }) })]
21:25:53.932 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
21:25:53.932 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 2f98b152-9fd7-45e9-8ed2-793635e89373, start_time: Some(10.02 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)
21:25:53.932 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: 40292e35-9761-4300-85a2-69eeb3a64f50)"), mode: None }
21:25:53.932 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-25-53_Upright task/2025-08-20_21-25-53_Upright task_rust.log"
21:25:53.932 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-20_21-25-53_Upright task
21:25:53.962 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 2f98b152-9fd7-45e9-8ed2-793635e89373, start_time: Some(10.02 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)
21:25:53.962 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: 0.43191542403665295 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
21:25:53.962 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
21:25:53.982 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 2f98b152-9fd7-45e9-8ed2-793635e89373, start_time: Some(10.02 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 }) })
21:25:53.982 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a Transect task 'transect (1)'
21:25:54.002 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
21:25:54.003 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))]
21:25:54.003 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))]
21:25:54.003 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Started)
21:25:54.004 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
21:25:54.004 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Transect, name: 'transect (1)', id: e3bb3d4d-163b-43ed-a280-22a5a619615f)"), mode: None }
21:25:54.005 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-20_21-25-53_Upright task")
21:25:54.005 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-25-53_transect (1)/2025-08-20_21-25-53_transect (1)_rust.log"
21:25:54.005 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-20_21-25-53_transect (1)
21:25:54.022 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -0.06783165812812132 m^1, east: 0.5154330337732945 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: -0.06783165812812132 m^1, east: 0.5154330337732945 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: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
21:25:54.022 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Preparing)
21:25:54.022 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })
21:25:54.042 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:26:37.895 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -0.06783165812812132 m^1, east: 0.5154330337732945 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 1.220212969055634 m^1, east: -6.402699121738874 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: None } }]
21:26:37.895 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })
21:26:37.895 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:26:37.915 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:26:38.016 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-25-53_transect (1)/photos/mocked_image_0.raw"
21:26:39.924 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:26:39.944 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:26:41.974 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:26:41.994 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:26:44.002 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:26:44.002 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:26:46.031 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:26:46.051 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:26:48.061 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:26:48.081 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:26:48.403 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
21:26:50.111 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:26:50.131 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:26:50.372 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-25-53_transect (1)/photos/mocked_image_1.raw"
21:26:52.140 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:26:52.140 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:26:52.883 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-25-53_transect (1)/photos/mocked_image_3.raw"
21:26:54.168 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:26:54.188 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:26:55.293 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-25-53_transect (1)/photos/mocked_image_5.raw"
21:26:56.197 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:26:56.217 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:26:57.905 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-25-53_transect (1)/photos/mocked_image_7.raw"
21:26:58.246 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:26:58.266 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:27:00.274 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:27:00.274 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:27:00.495 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-25-53_transect (1)/photos/mocked_image_9.raw"
21:27:02.303 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:27:02.323 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:27:03.107 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-25-53_transect (1)/photos/mocked_image_11.raw"
21:27:04.332 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:27:04.352 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:27:05.718 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-25-53_transect (1)/photos/mocked_image_13.raw"
21:27:06.341 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete
21:27:06.381 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Finished)
21:27:06.381 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })
21:27:06.401 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:27:06.401 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
21:27:06.402 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
21:27:06.402 WARN  [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now
21:27:06.422 INFO  [robot_code/peripherals/payload/src/position_camera.rs:224] Stopping PositionCamera recording, because receiver stopped
21:27:06.422 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
21:27:06.422 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
21:27:06.422 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
21:27:06.422 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Started)
21:27:06.422 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
21:27:06.422 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'waiting, hold position', id: d42e456e-32e5-45d0-a17c-94d4e71a1377)"), mode: None }
21:27:06.422 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-20_21-25-53_transect (1)")
21:27:06.422 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:39] Camera trigger responder stopped: RecvError
21:27:06.423 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-27-06_waiting, hold position/2025-08-20_21-27-06_waiting, hold position_rust.log"
21:27:06.423 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-20_21-27-06_waiting, hold position
21:27:06.423 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position'
21:27:06.452 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
21:27:06.452 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 1.209682804857269 m^1, east: -6.339169456918055 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 } }]
21:27:06.452 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Preparing)
21:27:06.452 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 1.209682804857269 m^1, east: -6.339169456918055 m^1, down: 9.009136739226882 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
21:27:06.452 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })
21:27:06.462 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) }))
21:27:51.063 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.19724092983829422, Enable control depth: 0.2, Depth control enabled: true
21:27:51.063 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
21:27:51.766 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 1.209682804857269 m^1, east: -6.339169456918055 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(0.0 s^1) } }]
21:27:51.767 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:27:51.767 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })
21:27:51.786 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) }))
21:27:51.806 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Finished)
21:27:51.806 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })
21:27:51.827 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) }))
21:27:51.847 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Started for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:27:51.847 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started)
21:27:51.867 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Preparing)
21:27:51.867 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 1.2095196333236486 m^1, east: -6.338270278128861 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 } }]
21:27:51.867 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })
21:27:51.887 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) }))
21:27:51.907 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 1.2095196333236486 m^1, east: -6.338270278128861 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) } }]
21:27:51.907 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) })
21:27:51.907 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:27:51.927 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:27:53.958 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:27:53.959 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:27:55.991 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:27:56.010 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) }))
21:27:58.023 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:27:58.043 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) }))
21:28:00.054 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:00.074 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:02.106 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:02.126 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:04.138 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:04.158 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:06.170 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:06.190 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:08.202 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:08.223 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:10.254 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:10.273 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:12.285 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:12.305 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:14.316 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:14.336 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:16.348 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:16.368 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:18.400 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:18.400 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) }))
21:28:20.432 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:20.452 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:22.464 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:22.484 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:24.494 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:24.515 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:26.547 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:26.567 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:28.578 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:28.598 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:30.611 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:30.631 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:32.643 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:32.643 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:34.695 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:34.715 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) }))
21:28:36.729 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:36.749 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:38.762 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:38.782 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:40.792 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:40.812 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:42.845 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:42.865 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:44.877 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:44.897 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:46.908 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:46.928 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:48.941 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:48.961 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) }))
21:28:50.991 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:51.011 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:53.023 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:53.023 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:55.055 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:55.075 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) }))
21:28:57.086 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:57.086 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:28:59.137 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:28:59.157 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:01.168 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:01.188 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:03.199 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:03.219 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:05.230 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:05.250 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:07.281 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:07.301 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:09.312 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:09.332 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) }))
21:29:11.343 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:11.363 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:13.373 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:13.393 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:15.424 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:15.444 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:17.454 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:17.474 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) }))
21:29:19.485 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:19.505 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:21.514 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:21.534 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) }))
21:29:23.567 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:23.587 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) }))
21:29:25.598 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:25.618 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:27.630 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:27.650 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:29.663 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:29.683 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:31.714 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:31.734 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:33.746 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:33.746 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:35.777 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:35.797 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:37.808 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:37.828 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:39.860 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:39.860 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) }))
21:29:41.891 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:41.910 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:43.921 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:43.941 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:45.952 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:45.972 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) }))
21:29:48.003 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:48.023 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:50.034 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:50.034 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:52.065 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:52.085 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:54.094 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:54.115 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
21:29:56.145 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:56.166 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) }))
21:29:58.175 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
21:29:58.194 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) }))
21:29:59.984 INFO  [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator()
21:29:59.995 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
21:30:00.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
21:30:00.017 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
21:30:11.001 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
21:30:11.001 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-20 21:30:11.001400529 +02:00
21:30:11.001 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
21:30:11.001 DEBUG [robot_code/utilities/logging/src/logging.rs:137] 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_live_stitching": 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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_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/2025-08-20_simulated_scout/2025-08-20_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
21:30:11.001 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
21:30:11.001 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-30-11_simulated_scout.lobsterlog")
21:30:11.009 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
21:30:11.172 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176]})
21:30:11.172 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
21:30:11.173 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: false, 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] }
21:30:11.206 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176]})
21:30:11.206 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
21:30:11.680 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176]})
21:30:11.680 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
21:30:11.680 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
21:30:11.681 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
21:30:11.681 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
21:30:11.681 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
21:30:11.682 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
21:30:11.682 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
21:30:11.682 WARN  [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled
21:30:11.682 WARN  [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled
21:30:11.682 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
21:30:11.682 WARN  [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled
21:30:11.682 WARN  [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled
21:30:11.682 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176]})
21:30:11.682 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
21:30:11.682 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
21:30:11.682 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
21:30:11.683 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
21:30:11.683 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
21:30:11.683 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 }
21:30:11.683 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
21:30:11.683 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 18235
21:30:11.684 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
21:30:11.684 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
21:30:11.684 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
21:30:11.684 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
21:30:11.684 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
21:30:11.685 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
21:30:11.685 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
21:30:11.685 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
21:30:11.685 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
21:30:11.685 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
21:30:11.686 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
21:30:11.686 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
21:30:11.686 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
21:30:11.686 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
21:30:11.686 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
21:30:11.687 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
21:30:11.687 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
21:30:11.687 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
21:30:11.687 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
21:30:11.688 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
21:30:11.688 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
21:30:11.688 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
21:30:11.688 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
21:30:11.688 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
21:30:11.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
21:30:11.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
21:30:11.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
21:30:11.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
21:30:11.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
21:30:11.689 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176]})
21:30:11.689 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
21:30:11.689 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
21:30:11.689 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 }
21:30:11.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
21:30:11.690 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 18264
21:30:11.690 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
21:30:11.690 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
21:30:11.690 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
21:30:11.690 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 }
21:30:11.690 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
21:30:11.690 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 18265
21:30:11.720 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
21:30:11.833 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
21:30:11.833 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
21:30:11.833 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 }
21:30:11.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
21:30:11.833 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
21:30:11.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 18267
21:30:11.834 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
21:30:11.834 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
21:30:11.834 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 }
21:30:11.834 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
21:30:11.834 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 18269
21:30:11.834 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
21:30:11.836 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
21:30:11.836 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 }
21:30:11.836 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
21:30:11.836 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
21:30:11.836 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
21:30:11.836 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 18307
21:30:11.836 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
21:30:11.836 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
21:30:11.836 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
21:30:11.836 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
21:30:11.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
21:30:11.837 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
21:30:11.837 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 }
21:30:11.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
21:30:11.837 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
21:30:11.837 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 }
21:30:11.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 18312
21:30:11.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
21:30:11.837 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
21:30:11.837 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 }
21:30:11.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 18313
21:30:11.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
21:30:11.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 18314
21:30:11.854 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
21:30:11.854 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
21:30:11.856 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
21:30:11.856 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
21:30:11.856 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
21:30:11.856 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 }
21:30:11.856 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
21:30:11.856 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 18316
21:30:11.856 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
21:30:11.857 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
21:30:11.857 INFO  [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined
21:30:11.857 INFO  [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator'
21:30:12.103 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
21:30:12.103 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {}
21:30:12.103 INFO  [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings
21:30:12.115 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
21:30:12.115 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue
21:31:14.664 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
21:31:14.664 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AddTask(Transect: 'transect (1)')
21:31:19.735 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Engage
21:31:19.735 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
21:31:19.755 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task'
21:31:19.795 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
21:31:19.795 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 7f09294b-c6bf-4acd-9fdd-478930061ffb, 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 }) })]
21:31:19.795 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 7f09294b-c6bf-4acd-9fdd-478930061ffb, 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 }) })]
21:31:19.806 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: 91f248f9-88ac-4779-8705-da56f7831fdf)"), mode: None }
21:31:19.806 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
21:31:19.806 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 7f09294b-c6bf-4acd-9fdd-478930061ffb, start_time: Some(67.6 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)
21:31:19.807 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-31-19_Upright task/2025-08-20_21-31-19_Upright task_rust.log"
21:31:19.807 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-20_21-31-19_Upright task
21:31:19.826 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849563886506761, Enable control depth: 0.2, Depth control enabled: true
21:31:19.826 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
21:31:19.826 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
21:31:19.826 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 7f09294b-c6bf-4acd-9fdd-478930061ffb, start_time: Some(67.6 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)
21:31:19.826 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: 0.09849563886506761 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
21:31:19.835 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 7f09294b-c6bf-4acd-9fdd-478930061ffb, start_time: Some(67.6 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 }) })
21:31:19.836 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a Transect task 'transect (1)'
21:31:19.856 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
21:31:19.856 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
21:31:19.876 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))]
21:31:19.876 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))]
21:31:19.876 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Started)
21:31:19.876 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
21:31:19.876 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-20_21-31-19_Upright task")
21:31:19.876 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Transect, name: 'transect (1)', id: e3bb3d4d-163b-43ed-a280-22a5a619615f)"), mode: None }
21:31:19.877 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-31-19_transect (1)/2025-08-20_21-31-19_transect (1)_rust.log"
21:31:19.877 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-20_21-31-19_transect (1)
21:31:19.906 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.0983458121473178, Enable control depth: 0.2, Depth control enabled: true
21:31:19.907 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
21:31:19.907 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -0.06783165812812132 m^1, east: 0.5154330337732945 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: -0.06783165812812132 m^1, east: 0.5154330337732945 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: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
21:31:19.907 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Preparing)
21:31:19.907 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -3.2504250640717115e-26 m^1, east: -1.151353111094792e-28 m^1, down: 0.0983458121473178 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
21:31:19.907 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
21:31:19.907 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })
21:31:19.916 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:31:20.719 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller
21:31:20.719 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20453529146374727, Enable control depth: 0.2, Depth control enabled: false
21:31:22.286 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
21:32:05.409 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:32:05.409 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })
21:32:05.409 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -0.06783165812812132 m^1, east: 0.5154330337732945 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 1.220212969055634 m^1, east: -6.402699121738874 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: None } }]
21:32:05.429 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:32:05.469 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-31-19_transect (1)/photos/mocked_image_0.raw"
21:32:07.458 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:32:07.458 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:32:09.487 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:32:09.507 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:32:11.516 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:32:11.536 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:32:13.545 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:32:13.565 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:32:15.593 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:32:15.593 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:32:15.854 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
21:32:17.622 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:32:17.642 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:32:17.823 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-31-19_transect (1)/photos/mocked_image_1.raw"
21:32:19.650 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:32:19.670 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:32:20.333 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-31-19_transect (1)/photos/mocked_image_3.raw"
21:32:21.678 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:32:21.699 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:32:22.744 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-31-19_transect (1)/photos/mocked_image_5.raw"
21:32:23.727 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:32:23.727 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:32:25.354 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-31-19_transect (1)/photos/mocked_image_7.raw"
21:32:25.756 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:32:25.776 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:32:27.784 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:32:27.804 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:32:27.965 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-31-19_transect (1)/photos/mocked_image_9.raw"
21:32:29.813 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:32:29.813 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:32:30.576 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-31-19_transect (1)/photos/mocked_image_11.raw"
21:32:31.861 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing)
21:32:31.882 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:32:33.187 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-31-19_transect (1)/photos/mocked_image_13.raw"
21:32:33.810 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete
21:32:33.830 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Finished)
21:32:33.830 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })
21:32:33.851 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084122222037831, lon: 0.07626932647172788 }, end: PositionGeodetic { lat: 0.9084124242429503, lon: 0.07626756646108868 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))
21:32:33.851 WARN  [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now
21:32:33.871 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:39] Camera trigger responder stopped: RecvError
21:32:33.871 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
21:32:33.871 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
21:32:33.871 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
21:32:33.871 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Started)
21:32:33.871 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
21:32:33.871 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-20_21-31-19_transect (1)")
21:32:33.871 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'waiting, hold position', id: a81b4e45-d6b5-4c88-aeff-7193ea7a67e3)"), mode: None }
21:32:33.871 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-20_simulated_scout/2025-08-20_21-32-33_waiting, hold position/2025-08-20_21-32-33_waiting, hold position_rust.log"
21:32:33.871 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-20_21-32-33_waiting, hold position
21:32:33.872 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position'
21:32:33.891 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 1.2088615374816138 m^1, east: -6.334820911257612 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 } }]
21:32:33.891 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })
21:32:33.891 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Preparing)
21:32:33.910 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) }))
21:32:42.136 INFO  [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator()
21:32:42.160 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
21:32:42.163 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped