10:36:52.675 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 10:36:52.675 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 10:36:52.675903294 +02:00 10:36:52.675 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 10:36:52.675 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 10:36:52.676 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 10:36:52.676 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_10-36-52_simulated_scout.lobsterlog") 10:36:52.680 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 10:36:52.915 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "dvl_location": [1.3305, 0.0, 0.0176], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 10:36:52.915 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 10:36:52.916 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] } 10:36:52.972 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "dvl_location": [1.3305, 0.0, 0.0176], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 10:36:52.972 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 10:36:53.741 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "dvl_location": [1.3305, 0.0, 0.0176], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 10:36:53.742 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 10:36:53.742 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 10:36:53.742 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 10:36:53.743 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 10:36:53.743 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 10:36:53.743 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 10:36:53.744 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 10:36:53.744 WARN [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled 10:36:53.744 WARN [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled 10:36:53.744 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 10:36:53.744 WARN [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled 10:36:53.744 WARN [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled 10:36:53.744 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "dvl_location": [1.3305, 0.0, 0.0176], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 10:36:53.744 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 10:36:53.744 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 10:36:53.745 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 10:36:53.745 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 10:36:53.746 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 10:36:53.746 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 } 10:36:53.746 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 13747 10:36:53.746 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 10:36:53.747 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 10:36:53.747 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 10:36:53.747 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 10:36:53.747 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 10:36:53.748 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 10:36:53.748 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 10:36:53.749 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 10:36:53.749 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 10:36:53.750 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 10:36:53.750 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 10:36:53.751 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 10:36:53.751 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 10:36:53.751 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 10:36:53.752 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 10:36:53.752 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 10:36:53.753 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 10:36:53.753 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 10:36:53.753 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 10:36:53.754 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 10:36:53.754 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 10:36:53.754 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 10:36:53.755 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 10:36:53.755 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 10:36:53.755 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 10:36:53.756 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 10:36:53.756 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 10:36:53.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 10:36:53.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 10:36:53.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 10:36:53.758 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "dvl_location": [1.3305, 0.0, 0.0176], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 10:36:53.758 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 10:36:53.758 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 10:36:53.758 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 } 10:36:53.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 10:36:53.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 13776 10:36:53.762 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 10:36:53.762 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 10:36:53.762 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 10:36:53.762 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 } 10:36:53.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 10:36:53.765 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 13777 10:36:53.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 10:36:54.021 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 10:36:54.021 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 10:36:54.021 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 } 10:36:54.021 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 10:36:54.021 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 10:36:54.021 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 13779 10:36:54.022 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 10:36:54.022 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 10:36:54.022 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 } 10:36:54.022 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 10:36:54.022 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 13781 10:36:54.022 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 10:36:54.025 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 10:36:54.025 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 } 10:36:54.025 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 10:36:54.025 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 10:36:54.025 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 10:36:54.025 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 13819 10:36:54.025 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 10:36:54.025 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 10:36:54.025 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 10:36:54.025 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 10:36:54.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 10:36:54.026 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 10:36:54.026 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 } 10:36:54.027 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 10:36:54.027 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 10:36:54.027 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 } 10:36:54.027 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 10:36:54.027 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 10:36:54.027 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 } 10:36:54.027 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 10:36:54.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 13825 10:36:54.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 13826 10:36:54.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 13824 10:36:54.032 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 10:36:54.038 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 10:36:54.038 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 10:36:54.039 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 10:36:54.039 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 } 10:36:54.039 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 10:36:54.039 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 10:36:54.039 INFO [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined 10:36:54.039 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator' 10:36:54.039 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 13828 10:36:54.040 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 10:36:54.044 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 10:36:54.077 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 10:36:54.086 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 10:36:54.087 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 10:36:54.091 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 10:36:54.103 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 10:36:54.103 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 10:36:54.269 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 10:36:54.284 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 10:36:54.285 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 10:36:58.572 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 10:36:58.572 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 10:36:58.573 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 10:37:28.683 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 10:37:28.683 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AddTask(Transect: 'transect') 10:37:31.900 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Engage 10:37:31.900 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 10:37:31.920 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 10:37:31.981 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 10:37:31.981 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 28b802cb-8509-4783-9520-9244967cbe57, 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 }) })] 10:37:31.981 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 28b802cb-8509-4783-9520-9244967cbe57, 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 }) })] 10:37:31.991 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 28b802cb-8509-4783-9520-9244967cbe57, start_time: Some(37.76 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) 10:37:31.991 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 10:37:31.991 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: ed66a276-c85f-4e1b-901e-c0a6fdeca947)"), mode: None } 10:37:31.991 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_10-37-31_Upright task/2025-08-21_10-37-31_Upright task_rust.log" 10:37:31.991 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_10-37-31_Upright task 10:37:32.011 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.0984963535955064, Enable control depth: 0.2, Depth control enabled: true 10:37:32.012 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 10:37:32.012 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 28b802cb-8509-4783-9520-9244967cbe57, start_time: Some(37.76 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) 10:37:32.012 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 10:37:32.012 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: 0.0984963535955064 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 10:37:32.021 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 28b802cb-8509-4783-9520-9244967cbe57, start_time: Some(37.76 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 }) }) 10:37:32.021 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a Transect task 'transect' 10:37:32.032 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 10:37:32.032 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 10:37:32.081 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 10:37:32.081 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 10:37:32.081 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Started) 10:37:32.082 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 10:37:32.082 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: 15a4090d-bf85-4789-84c6-e5406a5b62d7)"), mode: None } 10:37:32.082 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_10-37-31_Upright task") 10:37:32.082 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_10-37-32_transect/2025-08-21_10-37-32_transect_rust.log" 10:37:32.082 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_10-37-32_transect 10:37:32.112 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849545354569879, Enable control depth: 0.2, Depth control enabled: true 10:37:32.112 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 10:37:32.112 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 10:37:32.112 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: 0.45190357099797085 m^1, east: 0.27186304631782804 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: 0.45190357099797085 m^1, east: 0.27186304631782804 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 } }] 10:37:32.112 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: 0.09849545354569879 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 10:37:32.112 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Preparing) 10:37:32.112 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 10:37:32.121 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 10:37:32.204 DEBUG [robot_code/processing/live_stitching/src/mosaic.rs:62] Starting Mosaic with bounds: WGS { latitude_radians: 0.07627254887547029, longitude_radians: 0.9084121464885986 } to WGS { latitude_radians: 0.07626910667316421, longitude_radians: 0.9084147011375238 } 10:37:32.204 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for raw_to_orthophoto 10:37:32.204 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'raw_to_orthophoto' with StopRunningFlag { name: "raw_to_orthophoto", id: 0, stop_running: false, do_auto_stop: true } 10:37:32.204 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'raw_to_orthophoto' successfully started 10:37:32.204 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for live_stitching 10:37:32.204 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'live_stitching' with StopRunningFlag { name: "live_stitching", id: 0, stop_running: false, do_auto_stop: true } 10:37:32.204 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread raw_to_orthophoto with pid: 14084 10:37:32.204 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'live_stitching' successfully started 10:37:32.204 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread live_stitching with pid: 14085 10:37:32.926 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20467195418186002, Enable control depth: 0.2, Depth control enabled: false 10:37:32.926 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 10:37:34.473 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 10:38:17.639 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: 0.45190357099797085 m^1, east: 0.27186304631782804 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 14.733453521335303 m^1, east: 12.561408226537864 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 } }] 10:38:17.639 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 10:38:17.639 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 10:38:17.659 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 10:38:17.721 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_10-37-32_transect/photos/mocked_image_0.raw" 10:38:17.729 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread 'raw_to_orthophoto' panicked at 'attempt to divide by zero': robot_code/peripherals/camera/src/jpeg/mod.rs:19 0: log_panics::Config::install_panic_hook::{{closure}} 11:24:47.449 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 11:24:47.449 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 11:24:47.449737650 +02:00 11:24:47.449 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 11:24:47.449 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 11:24:47.449 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 11:24:47.449 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-24-47_simulated_scout.lobsterlog") 11:24:47.457 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 11:24:47.614 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], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 11:24:47.614 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:24:47.615 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] } 11:24:47.647 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], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 11:24:47.647 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:24:48.108 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], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 11:24:48.108 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:24:48.108 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 11:24:48.109 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 11:24:48.109 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 11:24:48.109 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 11:24:48.109 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 11:24:48.110 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 11:24:48.110 WARN [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled 11:24:48.110 WARN [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled 11:24:48.110 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 11:24:48.110 WARN [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled 11:24:48.110 WARN [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled 11:24:48.110 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], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 11:24:48.110 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:24:48.110 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 11:24:48.110 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 11:24:48.110 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 11:24:48.111 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 11:24:48.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 11:24:48.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 11:24:48.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 28013 11:24:48.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 11:24:48.111 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 11:24:48.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 11:24:48.112 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 11:24:48.112 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 11:24:48.112 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 11:24:48.112 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 11:24:48.113 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 11:24:48.113 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 11:24:48.113 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 11:24:48.113 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 11:24:48.113 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 11:24:48.114 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 11:24:48.114 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 11:24:48.114 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 11:24:48.114 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 11:24:48.114 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 11:24:48.115 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 11:24:48.115 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 11:24:48.115 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 11:24:48.115 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 11:24:48.115 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 11:24:48.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 11:24:48.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 11:24:48.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 11:24:48.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 11:24:48.117 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 11:24:48.117 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 11:24:48.117 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 11:24:48.118 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], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 11:24:48.118 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:24:48.118 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 11:24:48.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 11:24:48.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 11:24:48.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 28042 11:24:48.118 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 11:24:48.118 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 11:24:48.118 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 11:24:48.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 11:24:48.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 11:24:48.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 28043 11:24:48.148 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 11:24:48.268 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 11:24:48.268 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 11:24:48.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 11:24:48.269 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 11:24:48.269 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 11:24:48.269 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 28045 11:24:48.269 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 11:24:48.270 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 11:24:48.270 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 11:24:48.270 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 11:24:48.270 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 28047 11:24:48.270 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 11:24:48.271 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 11:24:48.271 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 11:24:48.272 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 11:24:48.272 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 11:24:48.272 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 11:24:48.272 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 28085 11:24:48.272 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 11:24:48.272 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 11:24:48.272 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 11:24:48.272 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 11:24:48.272 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 11:24:48.273 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 11:24:48.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 11:24:48.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 11:24:48.273 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 11:24:48.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 11:24:48.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 11:24:48.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 28090 11:24:48.273 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 11:24:48.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 28091 11:24:48.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 11:24:48.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 11:24:48.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 28092 11:24:48.289 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 11:24:48.289 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 11:24:48.292 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 11:24:48.292 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 11:24:48.292 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 11:24:48.292 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 11:24:48.292 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 11:24:48.292 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 28094 11:24:48.292 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 11:24:48.293 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 11:24:48.293 INFO [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined 11:24:48.293 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator' 11:24:48.329 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:24:48.329 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 11:24:48.329 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:24:48.365 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:24:48.369 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:24:48.369 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 11:24:48.388 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:24:48.389 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:24:48.389 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 11:24:48.524 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:24:48.524 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {} 11:24:48.524 INFO [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings 11:24:48.530 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 11:24:48.530 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:25:07.497 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:25:07.498 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AddTask(Transect: 'transect') 11:25:09.448 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Engage 11:25:09.449 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 11:25:09.468 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 11:25:09.529 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:25:09.529 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: a092130b-a02a-4c19-a01a-24602b6fc38f, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:25:09.529 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: a092130b-a02a-4c19-a01a-24602b6fc38f, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:25:09.539 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: a092130b-a02a-4c19-a01a-24602b6fc38f, start_time: Some(21.16 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started) 11:25:09.539 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:25:09.539 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: 1289e9d6-e6b6-49dd-b6cf-724c83aba7c5)"), mode: None } 11:25:09.539 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_Upright task/2025-08-21_11-25-09_Upright task_rust.log" 11:25:09.539 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-25-09_Upright task 11:25:09.559 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09768491977791481, Enable control depth: 0.2, Depth control enabled: true 11:25:09.559 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:25:09.559 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: a092130b-a02a-4c19-a01a-24602b6fc38f, start_time: Some(21.16 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished) 11:25:09.559 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:25:09.559 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: 0.09768491977791481 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:25:09.569 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: a092130b-a02a-4c19-a01a-24602b6fc38f, start_time: Some(21.16 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }) 11:25:09.569 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a Transect task 'transect' 11:25:09.579 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:25:09.579 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:25:09.629 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 11:25:09.629 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 11:25:09.629 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Started) 11:25:09.630 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:25:09.631 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-25-09_Upright task") 11:25:09.631 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: 15a4090d-bf85-4789-84c6-e5406a5b62d7)"), mode: None } 11:25:09.631 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/2025-08-21_11-25-09_transect_rust.log" 11:25:09.631 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-25-09_transect 11:25:09.644 DEBUG [robot_code/processing/live_stitching/src/mosaic.rs:62] Starting Mosaic with bounds: WGS { latitude_radians: 0.07627254887547029, longitude_radians: 0.9084121464885986 } to WGS { latitude_radians: 0.07626910667316421, longitude_radians: 0.9084147011375238 } 11:25:09.644 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for raw_to_orthophoto 11:25:09.644 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'raw_to_orthophoto' with StopRunningFlag { name: "raw_to_orthophoto", id: 0, stop_running: false, do_auto_stop: true } 11:25:09.645 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'raw_to_orthophoto' successfully started 11:25:09.645 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for live_stitching 11:25:09.645 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'live_stitching' with StopRunningFlag { name: "live_stitching", id: 0, stop_running: false, do_auto_stop: true } 11:25:09.645 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'live_stitching' successfully started 11:25:09.645 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread raw_to_orthophoto with pid: 28121 11:25:09.645 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread live_stitching with pid: 28122 11:25:09.660 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09800207651932098, Enable control depth: 0.2, Depth control enabled: true 11:25:09.660 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:25:09.660 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: 0.45190357099797085 m^1, east: 0.27186304631782804 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: 0.45190357099797085 m^1, east: 0.27186304631782804 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 } }] 11:25:09.660 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: 0.09800207651932098 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:25:09.660 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:25:09.660 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 11:25:09.660 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Preparing) 11:25:09.670 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:25:10.474 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.204183142698799, Enable control depth: 0.2, Depth control enabled: false 11:25:10.474 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:25:12.041 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 11:25:55.168 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: 0.45190357099797085 m^1, east: 0.27186304631782804 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 14.733453521335303 m^1, east: 12.561408226537864 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 } }] 11:25:55.168 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:25:55.168 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 11:25:55.188 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:25:55.249 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_0.raw" 11:25:55.872 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:25:57.198 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:25:57.218 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:25:57.760 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_1.raw" 11:25:59.246 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:25:59.266 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:00.171 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_3.raw" 11:26:01.277 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:01.297 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:02.584 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_5.raw" 11:26:03.307 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:03.327 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:05.178 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_7.raw" 11:26:05.339 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:05.359 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:07.388 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:07.408 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:07.790 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_9.raw" 11:26:09.418 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:09.438 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:10.402 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_11.raw" 11:26:11.446 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:11.466 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:13.013 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_13.raw" 11:26:13.475 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:13.495 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:15.523 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:15.543 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:15.624 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_15.raw" 11:26:17.553 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:17.573 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:18.236 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_17.raw" 11:26:19.582 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:19.602 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:20.847 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_19.raw" 11:26:21.612 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:21.632 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:23.460 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_21.raw" 11:26:23.661 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:23.681 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:25.690 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:25.690 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:26.071 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_23.raw" 11:26:27.719 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:27.739 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:28.683 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_25.raw" 11:26:29.748 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:29.767 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:31.295 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_27.raw" 11:26:31.797 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:31.817 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:33.827 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:33.847 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:33.907 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_29.raw" 11:26:35.858 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:35.878 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:36.521 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_31.raw" 11:26:37.887 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:37.907 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:39.132 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_33.raw" 11:26:39.936 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:39.956 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:41.744 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-25-09_transect/photos/mocked_image_35.raw" 11:26:41.964 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:26:41.985 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:43.471 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:26:43.491 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Finished) 11:26:43.492 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 11:26:43.511 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:26:43.512 WARN [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now 11:26:43.512 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:26:43.512 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:26:43.531 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'raw_to_orthophoto' stopped 11:26:43.531 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:104] Camera trigger responder stopped: RecvError 11:26:43.532 INFO [robot_code/processing/live_stitching/src/live_stitch.rs:92] No more photos to process, stopping live stitching 11:26:43.538 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'live_stitching' stopped 11:26:43.552 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:26:43.552 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) }))] 11:26:43.552 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) }))] 11:26:43.552 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) 11:26:43.552 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:26:43.552 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: 23613c62-b8a6-4ca8-bc10-e5d2ac95e3b1)"), mode: None } 11:26:43.552 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-25-09_transect") 11:26:43.553 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-26-43_waiting, hold position/2025-08-21_11-26-43_waiting, hold position_rust.log" 11:26:43.553 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-26-43_waiting, hold position 11:26:43.553 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position' 11:26:43.582 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:26:43.582 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 14.686188337488396 m^1, east: 12.520736508926428 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:26:43.582 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) 11:26:43.582 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 14.686188337488396 m^1, east: 12.520736508926428 m^1, down: 9.001973706918417 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:26:43.582 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) }) 11:26:43.591 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) })) 11:27:28.139 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.19511832725215683, Enable control depth: 0.2, Depth control enabled: true 11:27:28.139 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:27:28.822 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 14.686188337488396 m^1, east: 12.520736508926428 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) } }] 11:27:28.823 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) 11:27:28.823 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) }) 11:27:28.843 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) })) 11:27:28.863 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) }) 11:27:28.863 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) 11:27:28.863 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) })) 11:27:28.903 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) 11:27:28.923 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) })) 11:27:28.923 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 14.685495200285777 m^1, east: 12.520144127733044 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:27:28.923 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) 11:27:28.923 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) }) 11:27:28.943 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:27:28.963 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 14.685495200285777 m^1, east: 12.520144127733044 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }] 11:27:28.963 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) 11:27:28.964 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:27:28.984 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:27:31.015 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) 11:27:31.035 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:27:33.045 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) 11:27:33.065 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:27:35.077 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) 11:27:35.096 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:27:37.108 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) 11:27:37.128 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:27:39.160 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) 11:27:39.179 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:27:39.984 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:27:39.984 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: AddTask(SurveyArea: 'surveyArea') 11:27:40.004 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:528] Cancelling goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:27:40.004 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-26-43_waiting, hold position") 11:27:40.005 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:27:40.005 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:27:40.065 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:27:40.065 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 }))] 11:27:40.065 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: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 }))] 11:27:40.065 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: MoveTo, name: 'move to start of 'surveyArea'', id: 601997cb-7117-4a4c-9cb7-6e0c0a82261a)"), mode: None } 11:27:40.065 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:27:40.065 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 })), Started) 11:27:40.065 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 } 11:27:40.065 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-27-40_move to start of \'surveyArea\'/2025-08-21_11-27-40_move to start of \'surveyArea\'_rust.log" 11:27:40.065 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-27-40_move to start of 'surveyArea' 11:27:40.065 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:553] Starting task 'move to start of 'surveyArea'', to prepare for SurveyArea task 'surveyArea' 11:27:40.095 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.11325373665371301, Enable control depth: 0.2, Depth control enabled: true 11:27:40.095 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:27:40.095 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: 0.9084144572431532, lon: 0.076272857969899 }), update_count: 1 } }), hold_duration: None } }] 11:27:40.095 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:27:40.095 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 11:27:40.095 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 }) 11:27:40.095 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.5088020574707266 m^1, east: -1.8734202138090223 m^1, down: 0.11325373665371301 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), update_count: 1 } } 11:27:40.105 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: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 })) 11:27:40.808 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20180589201823373, Enable control depth: 0.2, Depth control enabled: false 11:27:40.808 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:27:42.397 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 11:28:04.623 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: 0.9084144572431532, lon: 0.076272857969899 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:28:04.623 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: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 }) 11:28:04.623 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:28:04.643 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: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 })) 11:28:06.653 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:28:06.673 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: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 })) 11:28:08.685 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:28:08.704 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: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 })) 11:28:10.193 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 11:28:10.193 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 }) 11:28:10.213 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: 0.9084144572431532, lon: 0.076272857969899 }), max_velocity: 1.0 m^1 s^-1 })) 11:28:10.213 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SurveyArea task 'surveyArea' 11:28:10.234 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:28:10.234 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:28:10.254 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:28:10.254 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:28:10.254 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:28:10.254 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started) 11:28:10.254 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:28:10.254 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 7393f278-4975-495f-894a-03e4b26cee35)"), mode: None } 11:28:10.254 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-27-40_move to start of 'surveyArea'") 11:28:10.255 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-28-10_surveyArea/2025-08-21_11-28-10_surveyArea_rust.log" 11:28:10.255 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-28-10_surveyArea 11:28:10.260 DEBUG [robot_code/processing/live_stitching/src/mosaic.rs:62] Starting Mosaic with bounds: WGS { latitude_radians: 0.908414770886498, longitude_radians: 0.07627234862639913 } to WGS { latitude_radians: 0.9084141435997759, longitude_radians: 0.07627336731319476 } 11:28:10.260 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for raw_to_orthophoto 11:28:10.260 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'raw_to_orthophoto' with StopRunningFlag { name: "raw_to_orthophoto", id: 0, stop_running: false, do_auto_stop: true } 11:28:10.260 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'raw_to_orthophoto' successfully started 11:28:10.260 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for live_stitching 11:28:10.260 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'live_stitching' with StopRunningFlag { name: "live_stitching", id: 0, stop_running: false, do_auto_stop: true } 11:28:10.260 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread raw_to_orthophoto with pid: 28662 11:28:10.260 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'live_stitching' successfully started 11:28:10.260 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread live_stitching with pid: 28663 11:28:10.284 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:28:10.285 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.007899530971180556 m^1, east: 0.02965123508964944 m^1, down: 5.232973166926067 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), update_count: 1 } } 11:28:10.285 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.232973166926067 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -1.019530582846734 m^1, east: 0.1619939980763364 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), update_count: 1 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -1.019530582846734 m^1, east: 0.1619939980763364 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), update_count: 1 } }), target_velocity: 0.4000000059604645 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:28:10.285 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:28:10.285 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing) 11:28:10.294 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:33.740 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -1.019530582846734 m^1, east: 0.1619939980763364 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), update_count: 1 } }, end: PositionNE { north: 1.0195307846650155 m^1, east: 0.1619939980763364 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 1.0195307846650155 m^1, east: -0.6981416964773852 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), update_count: 1 } }, end: PositionNE { north: -1.019530582846734 m^1, east: -0.6981416964773852 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }] 11:28:33.740 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:33.740 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:28:33.760 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:33.861 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-28-10_surveyArea/photos/mocked_image_0.raw" 11:28:35.769 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:35.789 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:37.810 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:37.829 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:39.837 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:39.857 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:41.886 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:41.906 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:43.914 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:43.914 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:44.056 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:28:45.944 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:45.964 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:46.024 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-28-10_surveyArea/photos/mocked_image_1.raw" 11:28:47.973 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:47.993 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:48.535 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-28-10_surveyArea/photos/mocked_image_3.raw" 11:28:49.580 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:28:50.022 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:50.042 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:50.544 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-28-10_surveyArea/photos/mocked_image_4.raw" 11:28:52.051 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:52.071 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:53.437 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:28:54.080 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:54.100 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:55.165 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-28-10_surveyArea/photos/mocked_image_6.raw" 11:28:56.110 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:56.130 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:57.576 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-28-10_surveyArea/photos/mocked_image_8.raw" 11:28:58.159 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:28:58.179 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:59.083 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:28:59.103 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished) 11:28:59.103 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:28:59.124 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084143004575587 0.07627260303263392,0.9084146140287472 0.07627260303263392,0.9084146140287472 0.07627311290716407,0.9084143004575587 0.07627311290716407,0.9084143004575587 0.07627260303263392)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:28:59.124 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:28:59.124 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:28:59.124 WARN [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now 11:28:59.143 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'raw_to_orthophoto' stopped 11:28:59.144 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:104] Camera trigger responder stopped: RecvError 11:28:59.144 INFO [robot_code/processing/live_stitching/src/live_stitch.rs:92] No more photos to process, stopping live stitching 11:28:59.144 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'live_stitching' stopped 11:28:59.163 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:28:59.163 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) }))] 11:28:59.163 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: d28dc516-c0e4-471a-9737-85086ee0bf0a)"), mode: None } 11:28:59.164 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) }))] 11:28:59.164 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:28:59.164 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) 11:28:59.164 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-28-10_surveyArea") 11:28:59.164 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-28-59_waiting, hold position/2025-08-21_11-28-59_waiting, hold position_rust.log" 11:28:59.164 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-28-59_waiting, hold position 11:28:59.164 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position' 11:28:59.194 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:28:59.194 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.946880210747569 m^1, east: -0.7485936202331733 m^1, down: 9.009162792148036 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), update_count: 1 } } 11:28:59.194 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.946880210747569 m^1, east: -0.7485936202331733 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:28:59.194 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) 11:28:59.194 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) }) 11:28:59.203 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) })) 11:29:43.765 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.19739544045060242, Enable control depth: 0.2, Depth control enabled: true 11:29:43.765 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:29:44.449 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.946880210747569 m^1, east: -0.7485936202331733 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(0.0 s^1) } }] 11:29:44.449 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) 11:29:44.449 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) }) 11:29:44.469 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) })) 11:29:44.509 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) 11:29:44.509 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) }) 11:29:44.530 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) })) 11:29:44.530 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) })) 11:29:44.530 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) 11:29:44.550 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.9477287651896613 m^1, east: -0.7485361395370393 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:29:44.550 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) 11:29:44.550 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) }) 11:29:44.569 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:29:44.610 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.9477287651896613 m^1, east: -0.7485361395370393 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084144572431532, lon: 0.076272857969899 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }] 11:29:44.610 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) 11:29:44.610 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:29:44.630 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:29:46.641 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) 11:29:46.661 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:29:48.671 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) 11:29:48.691 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:29:50.702 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) 11:29:50.722 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:29:52.753 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) 11:29:52.773 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:29:54.783 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) 11:29:54.804 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:29:56.816 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) 11:29:56.836 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:29:58.847 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) })), Executing) 11:29:58.867 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:00.899 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) 11:30:00.919 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:02.930 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) 11:30:02.930 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:04.962 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) 11:30:04.982 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:06.993 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) 11:30:07.013 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:09.045 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) 11:30:09.065 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:11.077 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) 11:30:11.097 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:13.109 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) 11:30:13.129 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:15.141 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) 11:30:15.161 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:17.193 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) 11:30:17.213 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:19.225 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) 11:30:19.245 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:21.257 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) 11:30:21.277 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:23.290 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) 11:30:23.310 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:25.342 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) 11:30:25.342 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:27.373 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) 11:30:27.393 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) })) 11:30:29.405 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) 11:30:29.425 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:31.437 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) 11:30:31.457 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:33.489 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) 11:30:33.489 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:35.529 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) 11:30:35.549 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:37.558 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) 11:30:37.578 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:39.594 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) 11:30:39.614 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:41.647 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) 11:30:41.647 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:43.681 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) 11:30:43.701 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:45.711 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) 11:30:45.732 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:47.741 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) 11:30:47.761 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:49.794 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) 11:30:49.794 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:51.826 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) 11:30:51.846 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:53.856 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) 11:30:53.876 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:55.887 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) 11:30:55.908 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:30:57.939 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) 11:30:57.959 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) })) 11:30:59.980 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) 11:31:00.000 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:02.025 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) 11:31:02.045 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:04.056 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) 11:31:04.076 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:06.116 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) 11:31:06.136 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:08.148 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) 11:31:08.168 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:10.178 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) 11:31:10.198 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:12.214 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) 11:31:12.234 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:14.265 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) 11:31:14.285 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:16.298 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) 11:31:16.318 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:18.336 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) 11:31:18.356 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:20.367 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) 11:31:20.387 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:22.419 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) 11:31:22.438 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:24.450 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) 11:31:24.470 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:26.480 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) 11:31:26.500 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:28.511 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) 11:31:28.531 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:30.561 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) 11:31:30.581 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:32.592 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) 11:31:32.612 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:34.624 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) 11:31:34.644 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:36.656 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) 11:31:36.676 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:38.708 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) 11:31:38.728 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:40.740 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) 11:31:40.760 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:42.772 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) 11:31:42.792 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:44.803 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) 11:31:44.823 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:46.853 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) 11:31:46.873 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:48.888 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) 11:31:48.908 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:50.949 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) 11:31:50.954 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:52.986 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) 11:31:53.006 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:55.055 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) 11:31:55.076 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:57.094 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) 11:31:57.114 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:31:59.149 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) 11:31:59.169 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:01.180 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) 11:32:01.200 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:03.232 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) 11:32:03.252 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:05.262 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) 11:32:05.263 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:07.294 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) 11:32:07.314 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:09.325 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) 11:32:09.325 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:11.376 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) 11:32:11.396 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:13.405 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) 11:32:13.425 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:15.435 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) 11:32:15.456 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:17.466 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) 11:32:17.486 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:19.524 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) 11:32:19.544 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:21.554 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) 11:32:21.574 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:23.585 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) 11:32:23.605 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:25.617 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) 11:32:25.637 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:27.668 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) 11:32:27.688 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:29.698 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) 11:32:29.718 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:31.729 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) 11:32:31.749 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) })) 11:32:33.759 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) 11:32:33.779 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:35.811 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) 11:32:35.811 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:37.842 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) 11:32:37.862 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:32:39.537 INFO [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator() 11:32:39.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 11:32:39.578 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 11:32:53.046 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 11:32:53.046 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 11:32:53.046573725 +02:00 11:32:53.046 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 11:32:53.046 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 11:32:53.046 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 11:32:53.046 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-32-53_simulated_scout.lobsterlog") 11:32:53.057 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 11:32:53.274 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_location": [0.93573, 0.00255, -0.17048], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "ps_location": [1.28577, 0.0, 0.06725], "sonar_location": [1.81926, 0.0, 0.00717], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_right_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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025]}) 11:32:53.275 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:32:53.277 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] } 11:32:53.325 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_location": [0.93573, 0.00255, -0.17048], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "ps_location": [1.28577, 0.0, 0.06725], "sonar_location": [1.81926, 0.0, 0.00717], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_right_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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025]}) 11:32:53.325 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:32:54.047 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_location": [0.93573, 0.00255, -0.17048], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "ps_location": [1.28577, 0.0, 0.06725], "sonar_location": [1.81926, 0.0, 0.00717], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_right_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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025]}) 11:32:54.047 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:32:54.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 11:32:54.048 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 11:32:54.048 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 11:32:54.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 11:32:54.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 11:32:54.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 11:32:54.050 WARN [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled 11:32:54.050 WARN [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled 11:32:54.050 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 11:32:54.050 WARN [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled 11:32:54.050 WARN [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled 11:32:54.050 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_location": [0.93573, 0.00255, -0.17048], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "ps_location": [1.28577, 0.0, 0.06725], "sonar_location": [1.81926, 0.0, 0.00717], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_right_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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025]}) 11:32:54.050 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:32:54.050 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 11:32:54.051 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 11:32:54.051 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 11:32:54.053 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 11:32:54.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 11:32:54.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 11:32:54.055 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 30875 11:32:54.056 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 11:32:54.057 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 11:32:54.057 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 11:32:54.057 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 11:32:54.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 11:32:54.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 11:32:54.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 11:32:54.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 11:32:54.060 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 11:32:54.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 11:32:54.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 11:32:54.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 11:32:54.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 11:32:54.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 11:32:54.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 11:32:54.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 11:32:54.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 11:32:54.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 11:32:54.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 11:32:54.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 11:32:54.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 11:32:54.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 11:32:54.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 11:32:54.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 11:32:54.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 11:32:54.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 11:32:54.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 11:32:54.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 11:32:54.069 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 11:32:54.069 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_location": [0.93573, 0.00255, -0.17048], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "ps_location": [1.28577, 0.0, 0.06725], "sonar_location": [1.81926, 0.0, 0.00717], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_right_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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025]}) 11:32:54.069 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:32:54.069 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 11:32:54.069 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 11:32:54.069 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 11:32:54.069 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 30904 11:32:54.070 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 11:32:54.070 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 11:32:54.070 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 11:32:54.070 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 11:32:54.070 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 11:32:54.070 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 30905 11:32:54.101 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 11:32:54.291 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 11:32:54.291 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 11:32:54.291 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 11:32:54.291 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 11:32:54.291 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 11:32:54.291 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 30907 11:32:54.292 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 11:32:54.292 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 11:32:54.292 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 11:32:54.292 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 11:32:54.292 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 30909 11:32:54.292 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 11:32:54.294 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 11:32:54.294 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 11:32:54.294 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 11:32:54.294 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 11:32:54.294 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 30947 11:32:54.295 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 11:32:54.295 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 11:32:54.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 11:32:54.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 11:32:54.295 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 11:32:54.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 11:32:54.296 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 11:32:54.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 11:32:54.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 11:32:54.296 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 11:32:54.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 11:32:54.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 30952 11:32:54.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 11:32:54.296 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 11:32:54.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 11:32:54.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 11:32:54.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 30954 11:32:54.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 30953 11:32:54.311 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 11:32:54.312 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 11:32:54.316 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 11:32:54.316 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 11:32:54.317 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 11:32:54.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 11:32:54.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 11:32:54.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 30956 11:32:54.317 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 11:32:54.317 INFO [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined 11:32:54.317 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 11:32:54.317 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator' 11:32:54.400 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:32:54.412 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:32:54.412 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:32:54.412 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 11:32:54.412 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 11:32:54.412 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:32:54.546 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {} 11:32:54.546 INFO [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings 11:32:54.547 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:32:54.552 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:32:54.553 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 11:33:09.551 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:33:09.551 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AddTask(SurveyArea: 'surveyArea') 11:33:12.305 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Engage 11:33:12.305 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 11:33:12.325 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 11:33:12.356 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:33:12.356 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 3e60a834-ff7c-4152-85e0-c7d0c259d3f6, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:33:12.356 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 3e60a834-ff7c-4152-85e0-c7d0c259d3f6, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:33:12.366 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 3e60a834-ff7c-4152-85e0-c7d0c259d3f6, start_time: Some(17.98 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started) 11:33:12.366 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:33:12.366 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: 8d0c6bc2-8d39-48a6-802e-2e2bb1e30cde)"), mode: None } 11:33:12.367 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-33-12_Upright task/2025-08-21_11-33-12_Upright task_rust.log" 11:33:12.367 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-33-12_Upright task 11:33:12.377 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.1020130746559878, Enable control depth: 0.2, Depth control enabled: true 11:33:12.377 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 3e60a834-ff7c-4152-85e0-c7d0c259d3f6, start_time: Some(17.98 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished) 11:33:12.377 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:33:12.377 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:33:12.378 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: 0.1020130746559878 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:33:12.386 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 3e60a834-ff7c-4152-85e0-c7d0c259d3f6, start_time: Some(17.98 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }) 11:33:12.386 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SurveyArea task 'surveyArea' 11:33:12.396 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:33:12.396 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:33:12.446 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:33:12.446 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))] 11:33:12.446 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started) 11:33:12.446 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:33:12.446 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 10fc3fd5-7d01-4e40-aba5-91b87ecd9b55)"), mode: None } 11:33:12.447 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-33-12_Upright task") 11:33:12.449 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-33-12_surveyArea/2025-08-21_11-33-12_surveyArea_rust.log" 11:33:12.449 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-33-12_surveyArea 11:33:12.464 DEBUG [robot_code/processing/live_stitching/src/mosaic.rs:62] Starting Mosaic with bounds: WGS { latitude_radians: 0.9084126213654836, longitude_radians: 0.07626886913176262 } to WGS { latitude_radians: 0.9084119940787548, longitude_radians: 0.07626988781575429 } 11:33:12.464 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for raw_to_orthophoto 11:33:12.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'raw_to_orthophoto' with StopRunningFlag { name: "raw_to_orthophoto", id: 0, stop_running: false, do_auto_stop: true } 11:33:12.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'raw_to_orthophoto' successfully started 11:33:12.465 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for live_stitching 11:33:12.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'live_stitching' with StopRunningFlag { name: "live_stitching", id: 0, stop_running: false, do_auto_stop: true } 11:33:12.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread raw_to_orthophoto with pid: 31004 11:33:12.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'live_stitching' successfully started 11:33:12.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread live_stitching with pid: 31005 11:33:12.477 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.10071369544847747, Enable control depth: 0.2, Depth control enabled: true 11:33:12.478 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:33:12.478 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:33:12.478 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: 0.10071369544847747 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:33:12.478 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: -0.5421655538744319 m^1, east: 0.5578456659455292 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: -0.5421655538744319 m^1, east: 0.5578456659455292 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 0.4000000059604645 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:33:12.478 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing) 11:33:12.478 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:33:12.486 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:33:13.270 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20189437380465414, Enable control depth: 0.2, Depth control enabled: false 11:33:13.270 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:33:14.836 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 11:33:58.070 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -0.5421655538744319 m^1, east: 0.5578456659455292 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 1.4968960148029935 m^1, east: 0.5578456659455292 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 1.4968960669570577 m^1, east: 1.4179813604992508 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -0.5421654346651423 m^1, east: 1.4179813604992508 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }] 11:33:58.071 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:33:58.071 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:33:58.090 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:33:58.171 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-33-12_surveyArea/photos/mocked_image_0.raw" 11:34:00.079 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:34:00.100 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:34:02.109 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:34:02.128 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:34:04.137 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:34:04.157 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:34:06.086 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:34:06.186 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:34:06.206 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:34:08.014 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-33-12_surveyArea/photos/mocked_image_1.raw" 11:34:08.215 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:34:08.235 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:34:10.245 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:34:10.265 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:34:10.607 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-33-12_surveyArea/photos/mocked_image_3.raw" 11:34:11.613 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:34:12.276 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:34:12.296 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:34:13.622 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-33-12_surveyArea/photos/mocked_image_4.raw" 11:34:14.326 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:34:14.346 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:34:15.732 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-33-12_surveyArea/photos/mocked_image_5.raw" 11:34:16.195 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:34:16.356 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:34:16.376 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:34:18.143 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-33-12_surveyArea/photos/mocked_image_6.raw" 11:34:18.384 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:34:18.404 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:34:20.414 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing) 11:34:20.434 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:34:20.554 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-33-12_surveyArea/photos/mocked_image_8.raw" 11:34:21.861 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:34:21.881 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished) 11:34:21.881 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }) 11:34:21.901 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412150936541 0.07626912353729862,0.9084124645077296 0.07626912353729862,0.9084124645077296 0.07626963341042278,0.908412150936541 0.07626963341042278,0.908412150936541 0.07626912353729862)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })) 11:34:21.901 WARN [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now 11:34:21.901 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:34:21.901 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:34:21.921 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:104] Camera trigger responder stopped: RecvError 11:34:21.921 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:34:21.921 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) }))] 11:34:21.922 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) }))] 11:34:21.922 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-33-12_surveyArea") 11:34:21.922 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:34:21.922 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) 11:34:21.922 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: bee42802-e34a-4318-ae4e-7e142bb5c4e3)"), mode: None } 11:34:21.922 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-34-21_waiting, hold position/2025-08-21_11-34-21_waiting, hold position_rust.log" 11:34:21.923 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-34-21_waiting, hold position 11:34:21.923 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position' 11:34:21.961 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:34:21.961 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.4707030798286893 m^1, east: 1.4652664725894669 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:34:21.961 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) 11:34:21.961 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.4707030798286893 m^1, east: 1.4652664725894669 m^1, down: 9.012826030565307 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:34:21.961 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) }) 11:34:21.981 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) })) 11:34:22.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'raw_to_orthophoto' stopped 11:34:22.111 INFO [robot_code/processing/live_stitching/src/live_stitch.rs:92] No more photos to process, stopping live stitching 11:34:22.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'live_stitching' stopped 11:34:57.396 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:34:57.396 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: AddTask(Transect: 'transect') 11:34:57.416 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:528] Cancelling 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) }))] 11:34:57.416 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-34-21_waiting, hold position") 11:34:57.417 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:34:57.417 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:34:57.457 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:34:57.457 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 }))] 11:34:57.457 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: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 }))] 11:34:57.457 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 })), Started) 11:34:57.457 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:34:57.457 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 } 11:34:57.457 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: 4beb92a7-8d50-49eb-8f5c-0265a708dbfa)"), mode: None } 11:34:57.457 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-34-57_move to start of \'transect\'/2025-08-21_11-34-57_move to start of \'transect\'_rust.log" 11:34:57.457 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-34-57_move to start of 'transect' 11:34:57.457 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' 11:34:57.487 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:34:57.487 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: 0.9084123037282952, lon: 0.0762692645062136 }), update_count: 1 } }), hold_duration: None } }] 11:34:57.487 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 11:34:57.487 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.922466243163027 m^1, east: 1.1934079377274553 m^1, down: 2.0266609700257425 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), update_count: 1 } } 11:34:57.487 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 }) 11:34:57.497 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: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 })) 11:35:12.460 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: 0.9084123037282952, lon: 0.0762692645062136 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:35:12.460 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: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 }) 11:35:12.460 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:35:12.480 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: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 })) 11:35:14.491 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:35:14.511 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: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 })) 11:35:16.521 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:35:16.541 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: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 })) 11:35:17.386 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 11:35:17.386 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 }) 11:35:17.407 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: 0.9084123037282952, lon: 0.0762692645062136 }), max_velocity: 1.0 m^1 s^-1 })) 11:35:17.407 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a Transect task 'transect' 11:35:17.407 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:35:17.407 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:35:17.467 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:35:17.467 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 11:35:17.467 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 11:35:17.467 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-34-57_move to start of 'transect'") 11:35:17.467 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:35:17.467 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: 15a4090d-bf85-4789-84c6-e5406a5b62d7)"), mode: None } 11:35:17.467 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Started) 11:35:17.468 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/2025-08-21_11-35-17_transect_rust.log" 11:35:17.468 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-35-17_transect 11:35:17.469 DEBUG [robot_code/processing/live_stitching/src/mosaic.rs:62] Starting Mosaic with bounds: WGS { latitude_radians: 0.908414700755619, longitude_radians: 0.07626901010000138 } to WGS { latitude_radians: 0.9084121468705093, longitude_radians: 0.07627264544780492 } 11:35:17.469 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for raw_to_orthophoto 11:35:17.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'raw_to_orthophoto' with StopRunningFlag { name: "raw_to_orthophoto", id: 0, stop_running: false, do_auto_stop: true } 11:35:17.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'raw_to_orthophoto' successfully started 11:35:17.469 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for live_stitching 11:35:17.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'live_stitching' with StopRunningFlag { name: "live_stitching", id: 0, stop_running: false, do_auto_stop: true } 11:35:17.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'live_stitching' successfully started 11:35:17.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread raw_to_orthophoto with pid: 31720 11:35:17.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread live_stitching with pid: 31721 11:35:17.497 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:35:17.498 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.015098990082735032 m^1, east: -0.019514331001842623 m^1, down: 5.168829393924994 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), update_count: 1 } } 11:35:17.498 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.168829393924994 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: 0.9084123037282952, lon: 0.0762692645062136 }), 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: 0.9084123037282952, lon: 0.0762692645062136 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:35:17.498 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Preparing) 11:35:17.498 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 11:35:17.507 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:35:47.304 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: 0.9084123037282952, lon: 0.0762692645062136 }), update_count: 1 } }, end: PositionNE { north: 14.281549280100414 m^1, east: 12.289545959098767 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None } }] 11:35:47.305 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 11:35:47.305 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:35:47.324 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:35:47.405 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_0.raw" 11:35:49.334 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:35:49.355 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:35:51.364 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:35:51.385 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:35:52.330 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:35:53.397 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:35:53.416 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:35:54.241 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_1.raw" 11:35:55.452 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:35:55.452 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:35:56.763 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_3.raw" 11:35:57.488 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:35:57.508 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:35:59.176 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_5.raw" 11:35:59.522 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:35:59.541 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:01.563 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:01.583 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:01.805 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_7.raw" 11:36:03.614 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:03.614 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:04.418 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_9.raw" 11:36:05.644 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:05.644 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:07.033 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_11.raw" 11:36:07.678 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:07.698 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:09.647 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_13.raw" 11:36:09.708 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:09.727 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:11.757 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:11.777 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:12.259 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_15.raw" 11:36:13.787 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:13.807 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:14.873 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_17.raw" 11:36:15.818 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:15.838 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:17.486 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_19.raw" 11:36:17.848 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:17.848 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:19.899 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:19.919 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:20.100 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_21.raw" 11:36:21.935 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:21.955 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:22.719 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_23.raw" 11:36:23.965 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:23.985 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:25.331 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_25.raw" 11:36:25.994 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:26.014 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:27.944 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_27.raw" 11:36:28.045 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:28.065 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:30.074 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:30.094 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:30.556 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_29.raw" 11:36:32.106 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:32.127 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:33.172 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_31.raw" 11:36:34.137 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:34.157 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:35.785 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_33.raw" 11:36:36.187 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:36.207 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:38.221 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:36:38.242 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:38.402 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-35-17_transect/photos/mocked_image_35.raw" 11:36:39.973 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:36:40.014 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Finished) 11:36:40.014 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 11:36:40.033 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }, end: PositionGeodetic { lat: 0.9084145438978681, lon: 0.07627239104242364 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:36:40.034 WARN [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now 11:36:40.034 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:36:40.034 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:36:40.054 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:104] Camera trigger responder stopped: RecvError 11:36:40.054 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'raw_to_orthophoto' stopped 11:36:40.064 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) }))] 11:36:40.064 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:36:40.064 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) 11:36:40.064 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) }))] 11:36:40.064 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:36:40.064 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-35-17_transect") 11:36:40.064 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: 311ba0aa-9daf-48c8-9a40-c3f06a87b9e3)"), mode: None } 11:36:40.065 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-36-40_waiting, hold position/2025-08-21_11-36-40_waiting, hold position_rust.log" 11:36:40.065 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-36-40_waiting, hold position 11:36:40.066 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position' 11:36:40.083 INFO [robot_code/processing/live_stitching/src/live_stitch.rs:92] No more photos to process, stopping live stitching 11:36:40.084 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:36:40.085 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 14.234982990678546 m^1, east: 12.249581660684097 m^1, down: 9.001158013944817 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), update_count: 1 } } 11:36:40.085 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 14.234982990678546 m^1, east: 12.249581660684097 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:36:40.085 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) 11:36:40.085 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) }) 11:36:40.091 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'live_stitching' stopped 11:36:40.093 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) })) 11:37:24.671 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.19935510111378463, Enable control depth: 0.2, Depth control enabled: true 11:37:24.671 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:37:25.374 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) 11:37:25.375 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) }) 11:37:25.375 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 14.234982990678546 m^1, east: 12.249581660684097 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(0.0 s^1) } }] 11:37:25.394 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) })) 11:37:25.435 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) 11:37:25.435 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) }) 11:37:25.455 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) 11:37:25.455 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) })) 11:37:25.455 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) })) 11:37:25.475 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 14.234290223396155 m^1, east: 12.248993563499644 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:37:25.475 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) 11:37:25.475 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) }) 11:37:25.495 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:25.535 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 14.234290223396155 m^1, east: 12.248993563499644 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123037282952, lon: 0.0762692645062136 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }] 11:37:25.535 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) 11:37:25.535 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:37:25.555 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:27.566 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) 11:37:27.587 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:29.598 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) 11:37:29.618 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) })) 11:37:31.649 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) 11:37:31.669 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:33.680 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) 11:37:33.701 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:35.712 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) 11:37:35.732 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:37.744 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) 11:37:37.764 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:39.794 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) 11:37:39.814 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:41.826 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) 11:37:41.846 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:43.856 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) 11:37:43.876 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:45.887 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) 11:37:45.907 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:47.938 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) 11:37:47.958 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:49.968 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) 11:37:49.989 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:51.999 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) 11:37:52.019 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:54.029 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) 11:37:54.050 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:56.080 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) 11:37:56.100 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:37:58.113 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) 11:37:58.114 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:00.142 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) 11:38:00.162 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:02.172 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) 11:38:02.192 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:04.225 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) 11:38:04.225 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:06.256 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) 11:38:06.276 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:08.286 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) 11:38:08.306 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:10.317 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) 11:38:10.337 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:12.367 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) 11:38:12.387 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:14.397 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) 11:38:14.417 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:16.427 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) 11:38:16.447 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:18.458 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) 11:38:18.478 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:20.508 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) 11:38:20.528 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:22.539 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) 11:38:22.559 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:24.570 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) 11:38:24.590 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:26.601 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) 11:38:26.621 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:28.651 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) 11:38:28.651 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:30.682 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) 11:38:30.682 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:32.713 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) 11:38:32.733 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:34.743 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) 11:38:34.763 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:36.793 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) 11:38:36.813 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:38.825 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) 11:38:38.845 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:40.854 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:40.855 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) 11:38:42.886 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) 11:38:42.907 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:44.977 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) 11:38:44.981 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:47.021 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) 11:38:47.041 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:49.051 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) 11:38:49.072 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:51.082 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) 11:38:51.082 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:53.133 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) 11:38:53.153 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:55.162 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) 11:38:55.182 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:57.191 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) 11:38:57.211 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:38:59.230 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) 11:38:59.243 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:01.395 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) 11:39:01.400 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:03.504 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) 11:39:03.524 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:05.534 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) 11:39:05.554 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:07.565 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) 11:39:07.585 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:09.616 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) 11:39:09.636 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:11.647 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) 11:39:11.667 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:13.677 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) 11:39:13.697 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:15.708 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) 11:39:15.728 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:17.759 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) 11:39:17.759 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:19.794 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) 11:39:19.814 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:21.858 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) 11:39:21.875 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:23.900 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) 11:39:23.920 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:25.950 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) 11:39:25.970 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:27.981 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) 11:39:28.001 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:30.012 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) 11:39:30.032 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:32.051 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) 11:39:32.071 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:34.102 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) 11:39:34.102 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:36.139 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) 11:39:36.159 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:38.173 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) 11:39:38.193 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:40.203 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) 11:39:40.223 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) })) 11:39:42.256 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) 11:39:42.276 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:44.287 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) 11:39:44.307 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:46.318 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) 11:39:46.338 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:48.348 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) 11:39:48.368 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) })) 11:39:50.399 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) 11:39:50.399 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:52.435 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) 11:39:52.443 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:54.472 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) 11:39:54.492 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:56.500 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) 11:39:56.521 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:39:58.552 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) 11:39:58.577 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:00.620 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) 11:40:00.644 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:02.666 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) 11:40:02.687 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:04.719 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) 11:40:04.735 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:06.767 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) 11:40:06.787 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:08.798 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) 11:40:08.817 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:10.828 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) 11:40:10.848 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:12.859 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) 11:40:12.879 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:14.909 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:14.909 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) 11:40:16.941 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) 11:40:16.961 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:18.971 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) 11:40:18.991 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:21.004 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) 11:40:21.023 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) })) 11:40:23.055 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) 11:40:23.055 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:25.087 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) 11:40:25.107 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:27.117 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) 11:40:27.137 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:29.149 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) 11:40:29.169 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:31.201 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) 11:40:31.201 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:33.232 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) 11:40:33.252 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:35.264 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) 11:40:35.284 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:37.295 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) 11:40:37.315 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:39.345 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) 11:40:39.365 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:41.376 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) 11:40:41.396 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:43.407 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) 11:40:43.428 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:45.439 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) 11:40:45.459 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:47.490 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) 11:40:47.490 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:49.520 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) 11:40:49.540 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:51.551 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) 11:40:51.571 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:53.582 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) 11:40:53.602 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:55.632 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) 11:40:55.632 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:57.692 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) 11:40:57.715 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:59.808 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:40:59.809 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) 11:41:01.868 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) 11:41:01.889 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:41:03.947 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) 11:41:03.947 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:41:06.013 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) 11:41:06.032 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:41:08.105 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) 11:41:08.121 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:41:10.172 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) 11:41:10.192 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:41:12.248 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) 11:41:12.268 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:41:14.278 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) 11:41:14.298 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:41:16.308 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) 11:41:16.328 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:41:18.339 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) 11:41:18.339 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:41:20.391 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) 11:41:20.411 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:41:22.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:41:22.059 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: AddTask(Transect: 'transect (1)') 11:41:22.100 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:528] Cancelling goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 11:41:22.100 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-36-40_waiting, hold position") 11:41:22.100 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:41:22.100 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:41:22.140 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:41:22.140 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 }))] 11:41:22.140 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Started) 11:41:22.140 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 }))] 11:41:22.141 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:41:22.141 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 (1)'', id: ede1b82c-8114-416d-9dbc-bab46373130e)"), mode: None } 11:41:22.141 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 } 11:41:22.141 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-41-22_move to start of \'transect (1)\'/2025-08-21_11-41-22_move to start of \'transect (1)\'_rust.log" 11:41:22.142 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-41-22_move to start of 'transect (1)' 11:41:22.142 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:553] Starting task 'move to start of 'transect (1)'', to prepare for Transect task 'transect (1)' 11:41:22.171 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.14233436432315297, Enable control depth: 0.2, Depth control enabled: true 11:41:22.171 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:41:22.171 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: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 2 } }), hold_duration: None } }] 11:41:22.171 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 11:41:22.171 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:41:22.171 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 }) 11:41:22.172 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 3.452847232248609 m^1, east: -9.780066880841996 m^1, down: 0.14233436432315297 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 2 } } 11:41:22.180 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:41:22.743 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.2037241076173011, Enable control depth: 0.2, Depth control enabled: false 11:41:22.743 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 11:41:24.312 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 11:41:46.524 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: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 2 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:41:46.524 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:41:46.525 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 }) 11:41:46.545 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:41:48.555 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:41:48.575 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:41:50.585 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:41:50.605 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:41:52.615 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:41:52.635 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:41:54.666 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:41:54.686 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:41:56.697 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:41:56.717 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:41:58.728 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:41:58.748 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:41:59.954 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 11:41:59.954 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:41:59.954 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 }) 11:41:59.954 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a Transect task 'transect (1)' 11:41:59.995 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:41:59.995 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 11:41:59.995 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:41:59.995 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Started) 11:41:59.995 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 11:41:59.995 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: 51daa28a-8e7e-4041-b440-1f884fc46dd1)"), mode: None } 11:41:59.995 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-41-22_move to start of 'transect (1)'") 11:41:59.996 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:104] Camera trigger responder stopped: RecvError 11:41:59.996 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-41-59_transect (1)/2025-08-21_11-41-59_transect (1)_rust.log" 11:41:59.996 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-41-59_transect (1) 11:42:00.015 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.30455101583127 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: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 2 } }), 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: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 2 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:42:00.015 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Preparing) 11:42:00.015 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 11:42:00.034 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:42:32.364 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: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 2 } }, end: PositionNE { north: 20.013192265926268 m^1, east: -5.3056004034601756e-11 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 2 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None } }] 11:42:32.365 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:42:32.365 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 11:42:32.384 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:42:33.590 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:42:34.394 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:42:34.414 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:42:36.424 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:42:36.444 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:42:38.454 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:42:38.474 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:42:40.503 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:42:40.523 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:42:42.532 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:42:42.552 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:42:44.562 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:42:44.582 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:42:46.592 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:42:46.612 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:42:48.642 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:42:48.663 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:42:50.672 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:42:50.692 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:42:52.703 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:42:52.723 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:42:54.735 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:42:54.735 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:42:56.785 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:42:56.806 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:42:58.815 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:42:58.835 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:43:00.846 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:43:00.866 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:43:02.877 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:43:02.897 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:43:04.928 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:43:04.948 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:43:06.959 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:43:06.979 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:43:08.990 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:43:08.990 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:43:11.021 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:43:11.041 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:43:13.081 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:43:13.100 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:43:15.121 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:43:15.141 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:43:17.151 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:43:17.171 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:43:19.182 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:43:19.202 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:43:21.232 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:43:21.232 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:43:23.263 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:43:23.283 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:43:24.167 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:43:24.188 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Finished) 11:43:24.188 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 11:43:24.208 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:43:24.208 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:43:24.208 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:43:24.248 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:43:24.248 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) }))] 11:43:24.248 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) }))] 11:43:24.248 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) 11:43:24.248 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:43:24.248 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: 0973a372-fb8c-4043-80e3-6a1c2dd73090)"), mode: None } 11:43:24.248 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-41-59_transect (1)") 11:43:24.249 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-43-24_waiting, hold position/2025-08-21_11-43-24_waiting, hold position_rust.log" 11:43:24.249 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-43-24_waiting, hold position 11:43:24.249 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position' 11:43:24.279 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 19.94952380370515 m^1, east: -1.5412769956919657e-5 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 2 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:43:24.279 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) 11:43:24.279 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:43:24.279 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) }) 11:43:24.279 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 19.94952380370515 m^1, east: -1.5412769956919657e-5 m^1, down: 9.001213116155382 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 2 } } 11:43:24.288 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) })) 11:43:41.717 INFO [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator() 11:43:41.750 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 11:43:41.754 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 11:43:42.092 INFO [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server 11:43:42.136 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 11:43:56.825 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 11:43:56.825 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 11:43:56.825493343 +02:00 11:43:56.825 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 11:43:56.825 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 11:43:56.825 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 11:43:56.825 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-43-56_simulated_scout.lobsterlog") 11:43:56.833 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 11:43:57.008 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "main_forwards_thruster_location": [0.0, 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], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "magnetometer_location": [1.06914, 0.00188, -0.20086], "imu_location": [1.22915, -0.07144, -0.03025], "gps_2_location": [1.05957, -0.00255, -0.20834]}) 11:43:57.008 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 11:43:57.009 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] } 11:43:57.045 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "main_forwards_thruster_location": [0.0, 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], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "magnetometer_location": [1.06914, 0.00188, -0.20086], "imu_location": [1.22915, -0.07144, -0.03025], "gps_2_location": [1.05957, -0.00255, -0.20834]}) 11:43:57.045 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:43:57.584 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "main_forwards_thruster_location": [0.0, 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], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "magnetometer_location": [1.06914, 0.00188, -0.20086], "imu_location": [1.22915, -0.07144, -0.03025], "gps_2_location": [1.05957, -0.00255, -0.20834]}) 11:43:57.584 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:43:57.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 11:43:57.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 11:43:57.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 11:43:57.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 11:43:57.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 11:43:57.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 11:43:57.585 WARN [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled 11:43:57.585 WARN [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled 11:43:57.585 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 11:43:57.586 WARN [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled 11:43:57.586 WARN [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled 11:43:57.586 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "main_forwards_thruster_location": [0.0, 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], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "magnetometer_location": [1.06914, 0.00188, -0.20086], "imu_location": [1.22915, -0.07144, -0.03025], "gps_2_location": [1.05957, -0.00255, -0.20834]}) 11:43:57.586 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:43:57.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 11:43:57.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 11:43:57.587 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 11:43:57.587 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 11:43:57.587 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 11:43:57.587 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 11:43:57.587 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 36711 11:43:57.588 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 11:43:57.588 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 11:43:57.588 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 11:43:57.588 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 11:43:57.589 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 11:43:57.589 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 11:43:57.590 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 11:43:57.590 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 11:43:57.591 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 11:43:57.591 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 11:43:57.591 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 11:43:57.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 11:43:57.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 11:43:57.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 11:43:57.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 11:43:57.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 11:43:57.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 11:43:57.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 11:43:57.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 11:43:57.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 11:43:57.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 11:43:57.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 11:43:57.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 11:43:57.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 11:43:57.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 11:43:57.596 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 11:43:57.596 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 11:43:57.597 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 11:43:57.597 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 11:43:57.598 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "main_forwards_thruster_location": [0.0, 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], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "magnetometer_location": [1.06914, 0.00188, -0.20086], "imu_location": [1.22915, -0.07144, -0.03025], "gps_2_location": [1.05957, -0.00255, -0.20834]}) 11:43:57.598 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:43:57.598 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 11:43:57.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 11:43:57.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 11:43:57.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 36740 11:43:57.598 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 11:43:57.598 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 11:43:57.598 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 11:43:57.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 11:43:57.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 11:43:57.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 36741 11:43:57.629 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 11:43:57.766 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 11:43:57.766 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 11:43:57.766 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 11:43:57.766 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 11:43:57.766 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 11:43:57.766 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 36743 11:43:57.766 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 11:43:57.766 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 11:43:57.766 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 11:43:57.767 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 11:43:57.767 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 36745 11:43:57.767 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 11:43:57.768 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 11:43:57.768 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 11:43:57.768 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 11:43:57.768 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 11:43:57.768 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 11:43:57.768 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 36783 11:43:57.768 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 11:43:57.768 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 11:43:57.768 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 11:43:57.768 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 11:43:57.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 11:43:57.769 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 11:43:57.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 11:43:57.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 11:43:57.769 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 11:43:57.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 11:43:57.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 36788 11:43:57.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 11:43:57.769 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 11:43:57.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 11:43:57.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 36789 11:43:57.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 11:43:57.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 36790 11:43:57.786 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 11:43:57.786 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 11:43:57.789 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 11:43:57.789 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 11:43:57.789 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 11:43:57.789 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 11:43:57.789 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 11:43:57.789 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 36792 11:43:57.789 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 11:43:57.789 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 11:43:57.789 INFO [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined 11:43:57.789 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator' 11:43:57.826 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:43:57.827 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 11:43:57.849 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:43:57.859 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:43:57.867 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:43:57.867 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:43:57.867 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 11:43:57.867 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 11:43:58.019 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:43:58.020 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {} 11:43:58.020 INFO [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings 11:43:58.027 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:43:58.028 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 11:44:08.702 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 11:44:08.702 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AddTask(Transect: 'transect (1)') 11:44:10.833 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Engage 11:44:10.833 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 11:44:10.853 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 11:44:10.893 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:44:10.893 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 242bfc81-6942-4fd7-b6a6-0003bb33d3ce, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:44:10.894 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 242bfc81-6942-4fd7-b6a6-0003bb33d3ce, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 11:44:10.904 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 242bfc81-6942-4fd7-b6a6-0003bb33d3ce, start_time: Some(13.1 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started) 11:44:10.904 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:44:10.904 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: e9dab6ac-c05d-46f5-8d77-e5d7a36db25c)"), mode: None } 11:44:10.904 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-44-10_Upright task/2025-08-21_11-44-10_Upright task_rust.log" 11:44:10.904 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-44-10_Upright task 11:44:10.924 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 242bfc81-6942-4fd7-b6a6-0003bb33d3ce, start_time: Some(13.1 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished) 11:44:10.924 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:44:10.924 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: 0.24631305434762407 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 11:44:10.933 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 242bfc81-6942-4fd7-b6a6-0003bb33d3ce, start_time: Some(13.1 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }) 11:44:10.953 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:44:10.954 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:44:10.984 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 }))] 11:44:10.984 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Started) 11:44:10.984 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 } 11:44:10.984 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-44-10_Upright task") 11:44:10.984 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 (1)'', id: 730c6ec5-b74d-4abb-b75c-b4acb8f61e58)"), mode: None } 11:44:10.984 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 }))] 11:44:10.984 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:44:10.985 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-44-10_move to start of \'transect (1)\'/2025-08-21_11-44-10_move to start of \'transect (1)\'_rust.log" 11:44:10.985 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-44-10_move to start of 'transect (1)' 11:44:10.985 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:553] Starting task 'move to start of 'transect (1)'', to prepare for Transect task 'transect (1)' 11:44:11.005 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -11.260961704464332 m^1, east: -22.32467812154188 m^1, down: 0.24170708498583812 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 1 } } 11:44:11.005 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:44:11.005 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: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 1 } }), hold_duration: None } }] 11:44:11.005 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 11:44:11.005 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 }) 11:44:11.014 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:44:12.480 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 11:44:34.894 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: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:44:34.894 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 }) 11:44:34.894 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:44:34.914 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:44:36.925 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:44:36.945 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:44:38.955 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:44:38.975 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:44:41.007 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:44:41.027 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:44:43.038 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:44:43.058 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:44:45.068 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:44:45.088 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:44:47.097 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:44:47.118 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:44:49.148 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:44:49.168 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:44:51.179 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:44:51.199 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:44:53.209 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:44:53.229 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:44:55.240 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:44:55.260 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:44:57.290 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:44:57.310 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:44:59.321 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:44:59.340 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:45:01.349 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 11:45:01.369 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:45:02.755 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 11:45:02.755 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 }) 11:45:02.775 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: 0.9084139992051967, lon: 0.07627487487448176 }), max_velocity: 1.0 m^1 s^-1 })) 11:45:02.775 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a Transect task 'transect (1)' 11:45:02.775 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:45:02.775 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:45:02.815 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 11:45:02.815 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:45:02.816 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 11:45:02.816 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Started) 11:45:02.816 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:45:02.816 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: 51daa28a-8e7e-4041-b440-1f884fc46dd1)"), mode: None } 11:45:02.816 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-44-10_move to start of 'transect (1)'") 11:45:02.817 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-45-02_transect (1)/2025-08-21_11-45-02_transect (1)_rust.log" 11:45:02.817 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-45-02_transect (1) 11:45:02.820 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:104] Camera trigger responder stopped: RecvError 11:45:02.846 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 11:45:02.846 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.300105896882198 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: 0.9084139992051967, lon: 0.07627487487448176 }), 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: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 11:45:02.846 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Preparing) 11:45:02.846 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.06885693054224952 m^1, east: 0.1364811651066794 m^1, down: 5.300105896882198 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 1 } } 11:45:02.846 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 11:45:02.856 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:45:32.483 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: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 1 } }, end: PositionNE { north: 20.013192265926268 m^1, east: -5.3056004034601756e-11 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None } }] 11:45:32.483 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:45:32.483 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 11:45:32.503 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:45:34.512 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:45:34.532 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:45:36.542 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:45:36.562 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:45:38.592 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:45:38.592 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:45:38.713 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 11:45:40.622 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:45:40.642 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:45:42.652 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:45:42.672 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:45:44.682 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:45:44.702 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:45:46.732 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:45:46.752 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:45:48.763 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:45:48.783 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:45:50.792 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:45:50.812 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:45:52.822 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:45:52.842 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:45:54.873 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:45:54.893 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:45:56.904 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:45:56.924 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:45:58.934 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:45:58.954 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:00.964 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:46:00.983 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:03.013 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:46:03.013 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:05.044 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:46:05.044 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:07.074 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:46:07.094 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:09.104 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:46:09.124 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:11.153 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:46:11.173 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:13.183 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:46:13.204 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:15.213 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:46:15.233 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:17.244 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:46:17.264 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:19.294 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:46:19.314 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:21.325 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:46:21.345 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:23.355 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:46:23.375 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:25.386 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:46:25.406 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:27.436 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 11:46:27.456 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:29.265 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 11:46:29.285 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Finished) 11:46:29.285 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 11:46:29.285 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }, end: PositionGeodetic { lat: 0.9084171384298081, lon: 0.07627487487448176 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 11:46:29.306 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 11:46:29.306 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) }))] 11:46:29.306 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: 658ef576-0bfe-43ca-a00a-1ac29d1828c5)"), mode: None } 11:46:29.306 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) 11:46:29.306 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 11:46:29.306 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-45-02_transect (1)") 11:46:29.306 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) }))] 11:46:29.306 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_11-46-29_waiting, hold position/2025-08-21_11-46-29_waiting, hold position_rust.log" 11:46:29.307 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_11-46-29_waiting, hold position 11:46:29.307 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position' 11:46:29.346 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) 11:46:29.346 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 19.943033713525576 m^1, east: -6.092174471874733e-5 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:46:29.346 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) }) 11:46:29.366 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) })) 11:47:13.808 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.19822966157822286, Enable control depth: 0.2, Depth control enabled: true 11:47:13.808 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 11:47:14.511 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 19.943033713525576 m^1, east: -6.092174471874733e-5 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(0.0 s^1) } }] 11:47:14.511 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) 11:47:14.511 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) }) 11:47:14.531 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) })) 11:47:14.571 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) 11:47:14.571 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) }) 11:47:14.591 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) })) 11:47:14.591 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) 11:47:14.611 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) })) 11:47:14.611 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 19.94377832023827 m^1, east: -8.332915801703861e-5 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 11:47:14.611 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) }) 11:47:14.611 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) })), Preparing) 11:47:14.632 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:14.671 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) 11:47:14.672 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 19.94377832023827 m^1, east: -8.332915801703861e-5 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084139992051967, lon: 0.07627487487448176 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }] 11:47:14.672 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:47:14.692 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:16.701 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) 11:47:16.722 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:18.731 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) 11:47:18.751 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:20.762 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) 11:47:20.782 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) })) 11:47:22.813 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) 11:47:22.833 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:24.843 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) 11:47:24.863 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:26.873 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) 11:47:26.893 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:28.904 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) 11:47:28.924 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:30.954 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) 11:47:30.974 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:32.985 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) 11:47:32.985 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:35.015 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) 11:47:35.035 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:37.045 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) 11:47:37.065 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:39.095 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) 11:47:39.115 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) })) 11:47:41.125 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) 11:47:41.145 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:43.155 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) 11:47:43.175 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:45.186 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) 11:47:45.206 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:47.235 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) 11:47:47.235 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:49.266 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) 11:47:49.286 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:51.295 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) 11:47:51.315 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:53.326 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) 11:47:53.346 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:55.376 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) 11:47:55.376 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:57.406 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) 11:47:57.426 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:47:59.435 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) 11:47:59.456 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:01.466 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) 11:48:01.486 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:03.516 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) 11:48:03.536 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:05.549 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) 11:48:05.569 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:07.578 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) 11:48:07.598 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) })) 11:48:09.608 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) 11:48:09.628 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:11.658 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) 11:48:11.678 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:13.688 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) 11:48:13.708 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:15.717 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) 11:48:15.737 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:17.747 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) 11:48:17.767 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:19.797 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) 11:48:19.797 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) })) 11:48:21.827 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) 11:48:21.847 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:23.856 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) 11:48:23.876 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:25.887 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) 11:48:25.907 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:27.936 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) 11:48:27.957 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:29.967 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) 11:48:29.987 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:31.996 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) 11:48:32.016 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:34.026 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) 11:48:34.046 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:36.076 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) 11:48:36.076 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:38.107 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) 11:48:38.126 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) })) 11:48:40.135 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) 11:48:40.155 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:42.166 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) 11:48:42.186 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:44.216 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) 11:48:44.236 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:46.245 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) 11:48:46.265 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:48.274 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) 11:48:48.274 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:50.305 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) 11:48:50.325 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:52.354 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) 11:48:52.374 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:54.384 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) 11:48:54.405 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:56.414 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) 11:48:56.434 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:48:58.444 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) 11:48:58.464 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:00.493 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) 11:49:00.514 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:02.524 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) 11:49:02.544 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:04.553 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) 11:49:04.573 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:06.582 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) 11:49:06.603 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:08.632 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) 11:49:08.632 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:10.662 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) 11:49:10.682 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:12.691 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) 11:49:12.711 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:14.721 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) 11:49:14.741 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:16.770 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) 11:49:16.790 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:18.801 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) 11:49:18.822 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:20.830 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) 11:49:20.850 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:22.860 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) 11:49:22.881 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:24.910 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) 11:49:24.930 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:26.940 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) 11:49:26.960 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:28.969 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) 11:49:28.989 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:30.999 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) 11:49:31.019 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:33.048 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) 11:49:33.068 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:35.078 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) 11:49:35.098 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:37.108 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) 11:49:37.128 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:39.137 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) 11:49:39.137 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:41.187 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) 11:49:41.187 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:43.217 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) 11:49:43.237 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:45.247 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) 11:49:45.267 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:47.276 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) 11:49:47.296 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:49.326 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) 11:49:49.347 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:51.355 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) 11:49:51.375 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:53.386 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) 11:49:53.406 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:55.416 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) 11:49:55.436 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:57.466 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) 11:49:57.485 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:49:59.494 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) 11:49:59.514 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:01.524 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) 11:50:01.544 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:03.553 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) 11:50:03.573 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:05.604 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) 11:50:05.624 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:07.632 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) 11:50:07.652 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:09.662 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) 11:50:09.682 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:11.691 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) 11:50:11.711 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:13.741 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) 11:50:13.761 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:15.772 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) 11:50:15.792 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:17.801 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) 11:50:17.822 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:19.831 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) 11:50:19.851 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:21.881 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) 11:50:21.901 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:23.910 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) 11:50:23.930 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:25.941 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) 11:50:25.961 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:27.970 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) 11:50:27.990 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:30.019 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) 11:50:30.039 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:32.049 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) 11:50:32.069 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:34.079 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) 11:50:34.079 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:36.108 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) 11:50:36.128 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:38.157 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) 11:50:38.158 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) })) 11:50:40.188 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) 11:50:40.208 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:42.217 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) 11:50:42.236 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:44.246 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) 11:50:44.266 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:46.295 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) 11:50:46.315 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:48.325 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) 11:50:48.345 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:50.354 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) 11:50:50.374 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:52.383 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) 11:50:52.403 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:54.433 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) 11:50:54.453 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:56.462 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) 11:50:56.482 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:50:58.491 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) 11:50:58.511 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:00.521 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) 11:51:00.541 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:02.570 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) 11:51:02.590 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:04.600 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) 11:51:04.620 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:06.629 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) 11:51:06.649 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:08.658 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) 11:51:08.678 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:10.707 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) 11:51:10.727 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:12.737 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) 11:51:12.757 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:14.767 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) 11:51:14.787 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:16.798 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) 11:51:16.817 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:18.848 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) 11:51:18.868 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:20.878 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) 11:51:20.898 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:22.909 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) 11:51:22.929 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:24.940 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) 11:51:24.960 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:26.991 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) 11:51:27.011 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) })) 11:51:29.021 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) 11:51:29.041 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:31.051 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) 11:51:31.071 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:33.082 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) 11:51:33.102 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:35.133 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) 11:51:35.153 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:37.163 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) 11:51:37.184 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:39.194 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) 11:51:39.194 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:41.225 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) 11:51:41.245 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:43.275 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) 11:51:43.295 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:45.307 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) 11:51:45.327 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:47.337 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) 11:51:47.357 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:49.368 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) 11:51:49.388 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:51.419 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) 11:51:51.439 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:53.450 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) 11:51:53.470 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:55.480 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) 11:51:55.500 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:57.511 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) 11:51:57.531 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:51:59.561 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) 11:51:59.582 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:52:01.592 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) 11:52:01.592 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:52:03.623 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) 11:52:03.643 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) })) 11:52:05.653 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) 11:52:05.673 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:52:07.704 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) 11:52:07.724 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:52:09.735 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) 11:52:09.755 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:52:11.766 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) 11:52:11.786 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:52:13.797 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) 11:52:13.816 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:52:15.847 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) })), Executing) 11:52:15.868 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:52:16.190 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) })), Finished) 11:52:16.190 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }) 11:52:16.210 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 11:52:16.210 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:154] Disengaging TaskExecutor 11:52:16.210 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:362] Waiting hold task finished before new task was started, disengaging now 11:52:16.210 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("ErrorMode(error:'Path planner is still active')") } 11:52:16.210 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_11-46-29_waiting, hold position") 11:52:16.210 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 11:52:16.210 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 11:52:16.230 WARN [robot_code/robot_core/task_scheduler/src/executor/error.rs:72] Executor in ErrorMode with error 'Path planner is still active' 11:52:16.250 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:528] Cancelling goals: [] 11:52:16.250 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:76] Executor in ErrorMode, but deactivated successfully 11:52:16.250 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("IdleMode") } 11:52:16.250 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:42] Path planner stopped successfully 12:03:07.778 INFO [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator() 12:03:07.795 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 12:03:07.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 12:03:07.886 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped 12:03:07.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_state_publisher' stopped 12:03:08.134 INFO [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server 12:03:08.206 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 12:03:09.762 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping... 12:03:09.785 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped 12:03:09.786 INFO [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'state_estimator' 12:03:09.786 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'control' 12:03:09.786 INFO [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'control' 12:03:09.786 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'simulator' 12:03:09.787 INFO [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'simulator' 12:03:09.787 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'path_planner' 12:03:17.900 WARN [robot_code/robot_core/launch/src/lib.rs:462] Not stopped after 10 seconds, aborting program 12:21:08.816 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 12:21:08.817 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 12:21:08.817008233 +02:00 12:21:08.817 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 12:21:08.817 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 12:21:08.817 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 12:21:08.817 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-21-08_simulated_scout.lobsterlog") 12:21:08.825 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 12:21:08.986 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], "gps_location": [0.93573, 0.00255, -0.17048], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176]}) 12:21:08.987 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:21:08.987 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] } 12:21:09.019 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], "gps_location": [0.93573, 0.00255, -0.17048], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176]}) 12:21:09.019 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:21:09.528 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], "gps_location": [0.93573, 0.00255, -0.17048], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176]}) 12:21:09.529 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:21:09.529 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 12:21:09.530 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 12:21:09.530 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 12:21:09.530 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 12:21:09.531 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 12:21:09.531 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 12:21:09.531 WARN [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled 12:21:09.531 WARN [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled 12:21:09.531 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 12:21:09.531 WARN [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled 12:21:09.532 WARN [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled 12:21:09.532 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], "gps_location": [0.93573, 0.00255, -0.17048], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176]}) 12:21:09.532 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:21:09.532 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 12:21:09.533 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 12:21:09.534 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 12:21:09.536 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 12:21:09.536 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 12:21:09.536 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 12:21:09.536 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 43717 12:21:09.541 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 12:21:09.542 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 12:21:09.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 12:21:09.543 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 12:21:09.544 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 12:21:09.545 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 12:21:09.545 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 12:21:09.546 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 12:21:09.546 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 12:21:09.546 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 12:21:09.547 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 12:21:09.547 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 12:21:09.548 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 12:21:09.549 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 12:21:09.549 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 12:21:09.549 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 12:21:09.550 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 12:21:09.550 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 12:21:09.551 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 12:21:09.551 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 12:21:09.551 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 12:21:09.552 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 12:21:09.552 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 12:21:09.553 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 12:21:09.553 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 12:21:09.553 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 12:21:09.554 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 12:21:09.554 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 12:21:09.555 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 12:21:09.555 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], "gps_location": [0.93573, 0.00255, -0.17048], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176]}) 12:21:09.555 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:21:09.555 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 12:21:09.555 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 12:21:09.555 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 12:21:09.555 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 43746 12:21:09.555 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 12:21:09.555 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 12:21:09.555 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 12:21:09.555 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 12:21:09.556 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 12:21:09.556 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 43747 12:21:09.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 12:21:09.715 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 12:21:09.715 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 12:21:09.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 12:21:09.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 12:21:09.715 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 12:21:09.716 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 43749 12:21:09.716 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 12:21:09.716 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 12:21:09.716 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 12:21:09.716 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 12:21:09.716 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 43751 12:21:09.716 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 12:21:09.718 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 12:21:09.718 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 12:21:09.718 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 12:21:09.718 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 12:21:09.718 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 43789 12:21:09.718 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 12:21:09.718 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 12:21:09.718 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 12:21:09.718 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 12:21:09.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 12:21:09.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 12:21:09.719 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 12:21:09.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 12:21:09.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 12:21:09.719 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 12:21:09.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 12:21:09.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 43794 12:21:09.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 12:21:09.719 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 12:21:09.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 12:21:09.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 43795 12:21:09.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 12:21:09.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 43796 12:21:09.736 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:228] Received request while idle: GetTaskQueue 12:21:09.736 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 12:21:09.741 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 12:21:09.741 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 12:21:09.742 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 12:21:09.742 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 12:21:09.742 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 12:21:09.742 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 43798 12:21:09.742 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 12:21:09.742 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 12:21:09.742 INFO [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined 12:21:09.742 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator' 12:21:09.816 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:21:09.816 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:228] Received request while idle: GetTaskQueue 12:21:09.832 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:21:10.001 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:21:10.001 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {} 12:21:10.002 INFO [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings 12:21:10.016 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:21:10.016 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:228] Received request while idle: GetTaskQueue 12:21:32.432 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 12:21:32.438 INFO [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator() 12:21:32.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 12:21:32.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped 12:21:32.741 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_state_publisher' stopped 12:21:32.751 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 12:21:32.773 INFO [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server 12:21:34.418 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping... 12:21:34.419 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped 12:21:34.420 INFO [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'state_estimator' 12:21:34.420 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'control' 12:21:34.420 INFO [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'control' 12:21:34.420 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'simulator' 12:21:34.420 INFO [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'simulator' 12:21:34.420 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'path_planner' 12:21:42.745 WARN [robot_code/robot_core/launch/src/lib.rs:462] Not stopped after 10 seconds, aborting program 12:22:00.688 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 12:22:00.688 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 12:22:00.688370707 +02:00 12:22:00.688 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 12:22:00.688 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 12:22:00.688 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 12:22:00.688 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-22-00_simulated_scout.lobsterlog") 12:22:00.697 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 12:22:00.848 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "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], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 12:22:00.848 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:22:00.849 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] } 12:22:00.877 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "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], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 12:22:00.878 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:22:01.300 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "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], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 12:22:01.300 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:22:01.300 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 12:22:01.300 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 12:22:01.300 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 12:22:01.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 12:22:01.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 12:22:01.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 12:22:01.301 WARN [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled 12:22:01.301 WARN [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled 12:22:01.301 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 12:22:01.301 WARN [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled 12:22:01.301 WARN [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled 12:22:01.301 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "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], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 12:22:01.301 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:22:01.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 12:22:01.302 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 12:22:01.302 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 12:22:01.303 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 12:22:01.303 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 12:22:01.303 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 12:22:01.303 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 44766 12:22:01.303 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 12:22:01.303 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 12:22:01.303 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 12:22:01.304 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 12:22:01.304 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 12:22:01.304 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 12:22:01.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 12:22:01.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 12:22:01.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 12:22:01.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 12:22:01.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 12:22:01.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 12:22:01.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 12:22:01.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 12:22:01.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 12:22:01.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 12:22:01.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 12:22:01.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 12:22:01.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 12:22:01.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 12:22:01.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 12:22:01.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 12:22:01.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 12:22:01.309 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 12:22:01.309 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 12:22:01.309 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 12:22:01.309 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 12:22:01.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 12:22:01.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 12:22:01.310 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "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], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 12:22:01.310 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:22:01.310 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 12:22:01.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 12:22:01.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 12:22:01.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 44795 12:22:01.310 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 12:22:01.310 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 12:22:01.310 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 12:22:01.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 12:22:01.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 12:22:01.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 44796 12:22:01.341 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 12:22:01.434 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 12:22:01.434 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 12:22:01.434 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 12:22:01.434 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 12:22:01.434 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 12:22:01.434 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 44798 12:22:01.434 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 12:22:01.434 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 12:22:01.434 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 12:22:01.434 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 12:22:01.435 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 44800 12:22:01.435 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 12:22:01.436 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 12:22:01.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 12:22:01.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 12:22:01.436 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 12:22:01.436 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 12:22:01.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 44838 12:22:01.436 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 12:22:01.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 12:22:01.436 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 12:22:01.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 12:22:01.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 12:22:01.437 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 12:22:01.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 12:22:01.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 12:22:01.437 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 12:22:01.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 12:22:01.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 12:22:01.437 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 12:22:01.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 12:22:01.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 44843 12:22:01.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 12:22:01.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 44844 12:22:01.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 44845 12:22:01.454 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:229] Received request while idle: GetTaskQueue 12:22:01.454 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 12:22:01.456 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 12:22:01.456 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 12:22:01.456 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 12:22:01.456 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 12:22:01.456 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 12:22:01.456 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 44847 12:22:01.456 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 12:22:01.456 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 12:22:01.457 INFO [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined 12:22:01.457 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator' 12:22:01.513 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:22:01.514 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:22:01.514 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:229] Received request while idle: GetTaskQueue 12:22:01.738 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:22:01.738 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {} 12:22:01.738 INFO [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings 12:22:01.756 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:22:01.757 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:229] Received request while idle: GetTaskQueue 12:22:08.328 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:229] Received request while idle: AddTask(MoveTo: 'moveTo') 12:22:08.328 WARN [robot_code/peripherals/communication/src/task_handler.rs:399] Failed to add requested task to queue: Robot has to travel too far (14972.1 m^1) for this task: max 300.0 m^1 allowed 12:22:08.336 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread 'task_scheduler' panicked at 'Robot has to travel too far (14972.1 m^1) for this task: max 300.0 m^1 allowed': robot_code/robot_core/task_scheduler/src/lib.rs:250 0: log_panics::Config::install_panic_hook::{{closure}} 12:23:04.525 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 12:23:04.525 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 12:23:04.525122050 +02:00 12:23:04.525 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 12:23:04.525 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 12:23:04.525 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 12:23:04.525 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-23-04_simulated_scout.lobsterlog") 12:23:04.530 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 12:23:04.663 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717]}) 12:23:04.663 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:23:04.664 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] } 12:23:04.691 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717]}) 12:23:04.691 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:23:05.079 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717]}) 12:23:05.079 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:23:05.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 12:23:05.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 12:23:05.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 12:23:05.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 12:23:05.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 12:23:05.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 12:23:05.080 WARN [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled 12:23:05.080 WARN [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled 12:23:05.080 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 12:23:05.080 WARN [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled 12:23:05.080 WARN [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled 12:23:05.080 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717]}) 12:23:05.080 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:23:05.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 12:23:05.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 12:23:05.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 12:23:05.082 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 12:23:05.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 12:23:05.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 12:23:05.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 44988 12:23:05.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 12:23:05.082 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 12:23:05.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 12:23:05.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 12:23:05.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 12:23:05.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 12:23:05.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 12:23:05.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 12:23:05.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 12:23:05.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 12:23:05.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 12:23:05.085 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 12:23:05.085 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 12:23:05.085 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 12:23:05.085 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 12:23:05.086 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 12:23:05.086 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 12:23:05.086 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 12:23:05.086 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 12:23:05.087 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 12:23:05.087 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 12:23:05.087 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 12:23:05.087 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 12:23:05.087 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 12:23:05.088 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 12:23:05.088 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 12:23:05.088 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 12:23:05.088 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 12:23:05.088 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 12:23:05.088 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717]}) 12:23:05.089 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:23:05.089 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 12:23:05.089 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 12:23:05.089 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 12:23:05.089 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 45017 12:23:05.089 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 12:23:05.089 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 12:23:05.089 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 12:23:05.089 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 12:23:05.089 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 12:23:05.089 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 45018 12:23:05.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 12:23:05.204 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 12:23:05.204 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 12:23:05.204 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 12:23:05.205 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 12:23:05.205 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 12:23:05.205 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 45020 12:23:05.205 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 12:23:05.205 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 12:23:05.205 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 12:23:05.205 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 12:23:05.206 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 45022 12:23:05.206 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 12:23:05.207 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 12:23:05.207 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 12:23:05.207 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 12:23:05.207 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 12:23:05.207 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 45060 12:23:05.207 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 12:23:05.207 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 12:23:05.207 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 12:23:05.207 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 12:23:05.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 12:23:05.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 12:23:05.208 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 12:23:05.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 12:23:05.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 12:23:05.208 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 12:23:05.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 12:23:05.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 45065 12:23:05.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 12:23:05.208 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 12:23:05.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 12:23:05.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 45066 12:23:05.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 12:23:05.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 45067 12:23:05.225 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:229] Received request while idle: GetTaskQueue 12:23:05.225 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 12:23:05.227 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 12:23:05.227 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 12:23:05.227 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 12:23:05.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 12:23:05.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 12:23:05.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 45069 12:23:05.228 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 12:23:05.228 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 12:23:05.228 INFO [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined 12:23:05.228 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator' 12:23:05.271 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:23:05.285 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:23:05.285 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:229] Received request while idle: GetTaskQueue 12:23:05.291 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:23:05.305 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:229] Received request while idle: GetTaskQueue 12:23:05.305 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:23:05.504 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {} 12:23:05.504 INFO [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings 12:23:05.506 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:229] Received request while idle: GetTaskQueue 12:23:05.507 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:23:05.507 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:23:07.116 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:229] Received request while idle: Engage 12:23:07.116 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 12:23:07.136 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SimpleGoal task 'Upright task' 12:23:07.176 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 12:23:07.176 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 776937c5-da3f-45c2-b3ad-bfd828a4d2d1, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 12:23:07.176 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 776937c5-da3f-45c2-b3ad-bfd828a4d2d1, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 12:23:07.186 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 776937c5-da3f-45c2-b3ad-bfd828a4d2d1, start_time: Some(2.0 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started) 12:23:07.186 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 12:23:07.186 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: 4886c67c-987b-49df-b630-4f15f32b2b73)"), mode: None } 12:23:07.186 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-23-07_Upright task/2025-08-21_12-23-07_Upright task_rust.log" 12:23:07.186 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_12-23-07_Upright task 12:23:07.208 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: 0.9180263541540435 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 12:23:07.208 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 12:23:07.208 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 776937c5-da3f-45c2-b3ad-bfd828a4d2d1, start_time: Some(2.0 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished) 12:23:07.216 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 776937c5-da3f-45c2-b3ad-bfd828a4d2d1, start_time: Some(2.0 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }) 12:23:07.236 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 12:23:07.236 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) }))] 12:23:07.236 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) 12:23:07.236 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_12-23-07_Upright task") 12:23:07.236 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) }))] 12:23:07.237 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-23-07_waiting, hold position/2025-08-21_12-23-07_waiting, hold position_rust.log" 12:23:07.237 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_12-23-07_waiting, hold position 12:23:07.237 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position' 12:23:07.237 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: c51941f9-5d9c-4735-a69a-4c73885d2d67)"), mode: None } 12:23:07.237 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 12:23:07.256 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.0 m^1, east: 0.0 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 } }] 12:23:07.256 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) 12:23:07.257 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) }) 12:23:07.257 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) })) 12:23:11.154 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.19850000712653504, Enable control depth: 0.2, Depth control enabled: true 12:23:11.154 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 12:23:12.220 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.0 m^1, east: 0.0 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) } }] 12:23:12.221 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) 12:23:12.222 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) }) 12:23:12.241 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) })) 12:23:12.282 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) 12:23:12.282 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) }) 12:23:12.302 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) })) 12:23:12.302 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) 12:23:12.322 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) })) 12:23:12.323 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) 12:23:12.323 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) }) 12:23:12.323 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.0035662840753532083 m^1, east: 1.4668904328177103e-9 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 } }] 12:23:12.342 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) })) 12:23:12.385 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.0035662840753532083 m^1, east: 1.4668904328177103e-9 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) } }] 12:23:12.386 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) 12:23:12.386 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) }) 12:23:12.403 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:23:12.946 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: AddTask(MoveTo: 'moveTo') 12:23:12.946 WARN [robot_code/peripherals/communication/src/task_handler.rs:399] Failed to add requested task to queue: Robot has to travel too far (24466.9 m^1) for this task: max 300.0 m^1 allowed 12:23:12.950 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread 'task_scheduler' panicked at 'Robot has to travel too far (24466.9 m^1) for this task: max 300.0 m^1 allowed': robot_code/robot_core/task_scheduler/src/lib.rs:161 0: log_panics::Config::install_panic_hook::{{closure}} 12:24:54.441 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 12:24:54.441 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 12:24:54.441239976 +02:00 12:24:54.441 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 12:24:54.441 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 12:24:54.441 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 12:24:54.441 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-24-54_simulated_scout.lobsterlog") 12:24:54.447 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 12:24:54.639 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "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], "imu_location": [1.22915, -0.07144, -0.03025], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066]}) 12:24:54.639 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:24:54.641 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] } 12:24:54.678 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "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], "imu_location": [1.22915, -0.07144, -0.03025], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066]}) 12:24:54.678 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:24:55.230 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "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], "imu_location": [1.22915, -0.07144, -0.03025], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066]}) 12:24:55.230 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:24:55.230 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 12:24:55.230 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 12:24:55.231 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 12:24:55.231 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 12:24:55.231 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 12:24:55.231 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 12:24:55.231 WARN [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled 12:24:55.231 WARN [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled 12:24:55.231 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 12:24:55.231 WARN [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled 12:24:55.231 WARN [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled 12:24:55.231 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "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], "imu_location": [1.22915, -0.07144, -0.03025], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066]}) 12:24:55.231 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:24:55.232 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 12:24:55.232 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 12:24:55.232 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 12:24:55.233 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 12:24:55.233 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 12:24:55.233 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 12:24:55.233 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 45993 12:24:55.233 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 12:24:55.233 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 12:24:55.233 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 12:24:55.234 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 12:24:55.234 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 12:24:55.234 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 12:24:55.234 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 12:24:55.235 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 12:24:55.235 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 12:24:55.235 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 12:24:55.235 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 12:24:55.235 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 12:24:55.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 12:24:55.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 12:24:55.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 12:24:55.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 12:24:55.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 12:24:55.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 12:24:55.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 12:24:55.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 12:24:55.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 12:24:55.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 12:24:55.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 12:24:55.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 12:24:55.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 12:24:55.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 12:24:55.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 12:24:55.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 12:24:55.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 12:24:55.241 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "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], "imu_location": [1.22915, -0.07144, -0.03025], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066]}) 12:24:55.241 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:24:55.241 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 12:24:55.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 12:24:55.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 12:24:55.242 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 46022 12:24:55.242 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 12:24:55.242 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 12:24:55.242 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 12:24:55.242 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 12:24:55.242 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 12:24:55.242 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 46023 12:24:55.272 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 12:24:55.437 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 12:24:55.437 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 12:24:55.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 12:24:55.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 12:24:55.438 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 12:24:55.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 46025 12:24:55.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 12:24:55.439 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 12:24:55.439 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 12:24:55.439 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 12:24:55.439 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 46027 12:24:55.439 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 12:24:55.441 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 12:24:55.441 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 12:24:55.441 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 12:24:55.441 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 12:24:55.441 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 12:24:55.441 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 12:24:55.441 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 46065 12:24:55.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 12:24:55.442 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 12:24:55.443 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 12:24:55.443 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 12:24:55.444 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 12:24:55.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 12:24:55.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 12:24:55.444 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 12:24:55.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 12:24:55.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 12:24:55.444 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 12:24:55.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 12:24:55.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 46071 12:24:55.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 12:24:55.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 46072 12:24:55.445 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 46070 12:24:55.458 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:228] Received request while idle: GetTaskQueue 12:24:55.459 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 12:24:55.467 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 12:24:55.467 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 12:24:55.468 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 12:24:55.468 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 12:24:55.468 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 12:24:55.468 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 46074 12:24:55.468 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 12:24:55.468 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 12:24:55.468 INFO [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined 12:24:55.468 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator' 12:24:55.525 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:24:55.538 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:24:55.539 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:228] Received request while idle: GetTaskQueue 12:24:55.547 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:24:55.558 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:24:55.559 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:228] Received request while idle: GetTaskQueue 12:24:55.765 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:24:55.765 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {} 12:24:55.765 INFO [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings 12:24:55.779 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:24:55.779 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:228] Received request while idle: GetTaskQueue 12:24:58.210 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:228] Received request while idle: AddTask(MoveTo: 'moveTo') 12:24:58.211 WARN [robot_code/peripherals/communication/src/task_handler.rs:399] Failed to add requested task to queue: Robot has to travel too far (13001.9 m^1) for this task: max 300.0 m^1 allowed 12:25:26.958 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:228] Received request while idle: Engage 12:25:26.958 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 12:25:26.979 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SimpleGoal task 'Upright task' 12:25:27.018 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 12:25:27.018 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: b60e669f-9902-4c11-a4cf-ccabfbeb9d2d, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 12:25:27.019 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: b60e669f-9902-4c11-a4cf-ccabfbeb9d2d, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })] 12:25:27.028 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: b60e669f-9902-4c11-a4cf-ccabfbeb9d2d, start_time: Some(31.46 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started) 12:25:27.028 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 12:25:27.029 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: 4f275b0c-761a-468a-931b-e9d9af19ea07)"), mode: None } 12:25:27.029 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-25-26_Upright task/2025-08-21_12-25-26_Upright task_rust.log" 12:25:27.029 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_12-25-26_Upright task 12:25:27.049 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09850831586476452, Enable control depth: 0.2, Depth control enabled: true 12:25:27.049 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: b60e669f-9902-4c11-a4cf-ccabfbeb9d2d, start_time: Some(31.46 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished) 12:25:27.049 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 12:25:27.049 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 12:25:27.050 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: 0.09850831586476452 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 12:25:27.059 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: b60e669f-9902-4c11-a4cf-ccabfbeb9d2d, start_time: Some(31.46 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }) 12:25:27.069 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 12:25:27.069 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 12:25:27.079 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) }))] 12:25:27.079 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) }))] 12:25:27.079 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) 12:25:27.079 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 12:25:27.079 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: 092c27b6-4d60-45a9-9f18-539814bb85c6)"), mode: None } 12:25:27.079 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_12-25-26_Upright task") 12:25:27.080 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-25-27_waiting, hold position/2025-08-21_12-25-27_waiting, hold position_rust.log" 12:25:27.080 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_12-25-27_waiting, hold position 12:25:27.080 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position' 12:25:27.119 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09850183164456286, Enable control depth: 0.2, Depth control enabled: true 12:25:27.119 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 12:25:27.119 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: 0.09850183164456286 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 12:25:27.120 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 12:25:27.120 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) 12:25:27.120 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) }) 12:25:27.120 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.0 m^1, east: 0.0 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 } }] 12:25:27.139 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) })) 12:25:27.160 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.0 m^1, east: 0.0 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) } }] 12:25:27.160 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) 12:25:27.160 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) }) 12:25:27.179 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) })) 12:25:27.219 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) }) 12:25:27.219 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) 12:25:27.219 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) })) 12:25:27.240 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) 12:25:27.240 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) })) 12:25:27.260 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -2.0904168056175117e-7 m^1, east: 6.015617081531392e-16 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 } }] 12:25:27.260 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) }) 12:25:27.260 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) 12:25:27.280 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) })) 12:25:27.321 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -2.0904168056175117e-7 m^1, east: 6.015617081531392e-16 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) } }] 12:25:27.321 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) 12:25:27.321 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) }) 12:25:27.340 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:29.352 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) 12:25:29.372 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:29.573 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: AddTask(MoveTo: 'moveTo') 12:25:29.573 WARN [robot_code/peripherals/communication/src/task_handler.rs:399] Failed to add requested task to queue: Robot has to travel too far (15948.9 m^1) for this task: max 300.0 m^1 allowed 12:25:31.381 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) 12:25:31.402 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:33.412 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) 12:25:33.432 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:35.461 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) 12:25:35.462 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:37.491 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) 12:25:37.511 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:39.520 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) 12:25:39.540 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:41.550 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) 12:25:41.570 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:43.600 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) 12:25:43.620 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:44.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 12:25:44.384 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: AddTask(SurveyArea: 'surveyArea') 12:25:44.384 WARN [robot_code/peripherals/communication/src/task_handler.rs:399] Failed to add requested task to queue: Robot has to travel too far (16966.5 m^1) for this task: max 300.0 m^1 allowed 12:25:45.629 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) 12:25:45.649 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:47.659 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) 12:25:47.679 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:49.688 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) 12:25:49.708 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:51.738 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) 12:25:51.758 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:53.768 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) 12:25:53.788 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:55.797 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) 12:25:55.817 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:57.828 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) 12:25:57.848 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:25:59.837 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) 12:25:59.857 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:26:01.887 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) 12:26:01.887 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:26:03.918 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) 12:26:03.918 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 12:26:05.647 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 12:26:05.647 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: AddTask(Transect: 'transect (2)') 12:26:05.667 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:528] Cancelling goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 12:26:05.667 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_12-25-27_waiting, hold position") 12:26:05.667 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 12:26:05.667 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 12:26:05.707 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 12:26:05.707 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 }))] 12:26:05.707 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Started) 12:26:05.707 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 }))] 12:26:05.707 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 12:26:05.708 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 } 12:26:05.708 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 (2)'', id: 8b60b6ba-2f4d-4a35-9170-fd77675f5f72)"), mode: None } 12:26:05.708 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-05_move to start of \'transect (2)\'/2025-08-21_12-26-05_move to start of \'transect (2)\'_rust.log" 12:26:05.708 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_12-26-05_move to start of 'transect (2)' 12:26:05.708 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:561] Starting task 'move to start of 'transect (2)'', to prepare for Transect task 'transect (2)' 12:26:05.738 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.14101215050073249, Enable control depth: 0.2, Depth control enabled: true 12:26:05.739 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 12:26:05.739 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: 0.9084149836942705, lon: 0.076272770678523 }), update_count: 1 } }), hold_duration: None } }] 12:26:05.739 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -17.50504592922387 m^1, east: -14.05360926502409 m^1, down: 0.14101215050073249 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), update_count: 1 } } 12:26:05.739 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 12:26:05.739 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 12:26:05.739 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 }) 12:26:05.747 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })) 12:26:06.310 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20229742664016825, Enable control depth: 0.2, Depth control enabled: false 12:26:06.310 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 12:26:07.877 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 12:26:21.566 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: AddTask(MoveTo: 'moveTo') 12:26:30.069 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: 0.9084149836942705, lon: 0.076272770678523 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 12:26:30.069 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:26:30.069 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 }) 12:26:30.089 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })) 12:26:32.101 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:26:32.121 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })) 12:26:34.155 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:26:34.175 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })) 12:26:36.189 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:26:36.210 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })) 12:26:38.225 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:26:38.249 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })) 12:26:40.287 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:26:40.307 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })) 12:26:42.354 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:26:42.354 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })) 12:26:44.386 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:26:44.406 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })) 12:26:46.418 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:26:46.438 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })) 12:26:48.450 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:26:48.470 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })) 12:26:50.506 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:26:50.525 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })) 12:26:52.543 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:26:52.563 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })) 12:26:54.579 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 12:26:54.599 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })) 12:26:55.466 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 }) 12:26:55.466 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 12:26:55.486 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: 0.9084149836942705, lon: 0.076272770678523 }), max_velocity: 1.0 m^1 s^-1 })) 12:26:55.486 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a Transect task 'transect (2)' 12:26:55.488 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 12:26:55.488 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 12:26:55.546 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 12:26:55.546 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 12:26:55.546 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 12:26:55.546 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 12:26:55.546 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Started) 12:26:55.546 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Transect, name: 'transect (2)', id: 50dbf32c-53cc-48b6-9f77-14b98d9b71d8)"), mode: None } 12:26:55.546 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_12-26-05_move to start of 'transect (2)'") 12:26:55.547 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/2025-08-21_12-26-55_transect (2)_rust.log" 12:26:55.547 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_12-26-55_transect (2) 12:26:55.576 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 12:26:55.576 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.2901224831728575 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: 0.9084149836942705, lon: 0.076272770678523 }), 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: 0.9084149836942705, lon: 0.076272770678523 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 12:26:55.576 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.12029311835903997 m^1, east: 0.09655555647920559 m^1, down: 5.2901224831728575 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), update_count: 1 } } 12:26:55.576 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Preparing) 12:26:55.577 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 12:26:55.586 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:25.222 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: 0.9084149836942705, lon: 0.076272770678523 }), update_count: 1 } }, end: PositionNE { north: 5104.204530994668 m^1, east: 13544.458340763329 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None } }] 12:27:25.222 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:25.222 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 12:27:25.242 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:25.282 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_0.raw" 12:27:27.251 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:27.271 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:29.300 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:29.320 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:31.338 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:31.359 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:33.366 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:33.386 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:34.933 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 12:27:35.395 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:35.415 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:36.841 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_1.raw" 12:27:37.443 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:37.463 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:39.351 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_3.raw" 12:27:39.472 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:39.472 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:41.500 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:41.520 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:41.761 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_5.raw" 12:27:43.529 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:43.549 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:44.373 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_7.raw" 12:27:45.578 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:45.598 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:46.984 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_9.raw" 12:27:47.606 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:47.626 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:49.594 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_11.raw" 12:27:49.634 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:49.654 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:51.662 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:51.662 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:52.205 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_13.raw" 12:27:53.711 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:53.731 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:54.816 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_15.raw" 12:27:55.740 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:55.760 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:57.427 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_17.raw" 12:27:57.768 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:57.788 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:27:59.796 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:27:59.816 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:28:00.037 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_19.raw" 12:28:01.845 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:28:01.865 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:28:02.664 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_21.raw" 12:28:03.891 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:28:03.912 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:28:05.277 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_23.raw" 12:28:05.920 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:28:05.940 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:28:07.887 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_25.raw" 12:28:07.948 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:28:07.968 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:28:10.013 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:28:10.029 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:28:10.511 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_27.raw" 12:28:12.037 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:28:12.057 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:28:13.124 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_29.raw" 12:28:14.068 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:28:14.068 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:28:15.735 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_12-26-55_transect (2)/photos/mocked_image_31.raw" 12:28:16.096 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 12:28:16.116 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084149836942705, lon: 0.076272770678523 }, end: PositionGeodetic { lat: 0.909212725504045, lon: 0.079722093346709 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 12:28:18.104 INFO [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator() 12:28:18.134 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 12:28:18.151 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 13:55:47.289 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 13:55:47.290 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 13:55:47.290007283 +02:00 13:55:47.290 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 13:55:47.290 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 13:55:47.290 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 13:55:47.290 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_13-55-47_simulated_scout.lobsterlog") 13:55:47.299 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 13:55:47.439 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], "gps_2_location": [1.05957, -0.00255, -0.20834], "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], "camera_rear_location": [0.9707, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "ps_location": [1.28577, 0.0, 0.06725], "rear_right_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], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595]}) 13:55:47.439 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 13:55:47.440 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] } 13:55:47.473 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], "gps_2_location": [1.05957, -0.00255, -0.20834], "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], "camera_rear_location": [0.9707, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "ps_location": [1.28577, 0.0, 0.06725], "rear_right_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], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595]}) 13:55:47.473 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 13:55:47.883 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], "gps_2_location": [1.05957, -0.00255, -0.20834], "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], "camera_rear_location": [0.9707, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "ps_location": [1.28577, 0.0, 0.06725], "rear_right_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], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595]}) 13:55:47.883 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 13:55:47.883 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 13:55:47.883 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 13:55:47.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 13:55:47.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 13:55:47.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 13:55:47.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 13:55:47.884 WARN [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled 13:55:47.884 WARN [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled 13:55:47.884 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 13:55:47.884 WARN [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled 13:55:47.884 WARN [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled 13:55:47.884 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], "gps_2_location": [1.05957, -0.00255, -0.20834], "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], "camera_rear_location": [0.9707, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "ps_location": [1.28577, 0.0, 0.06725], "rear_right_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], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595]}) 13:55:47.884 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 13:55:47.885 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 13:55:47.885 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 13:55:47.885 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 13:55:47.886 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 13:55:47.886 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 } 13:55:47.886 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 13:55:47.886 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 58230 13:55:47.886 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 13:55:47.886 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 13:55:47.886 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 13:55:47.886 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 13:55:47.887 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 13:55:47.887 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 13:55:47.887 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 13:55:47.887 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 13:55:47.888 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 13:55:47.888 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 13:55:47.888 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 13:55:47.888 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 13:55:47.889 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 13:55:47.889 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 13:55:47.889 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 13:55:47.889 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 13:55:47.890 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 13:55:47.890 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 13:55:47.890 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 13:55:47.890 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 13:55:47.891 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 13:55:47.891 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 13:55:47.891 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 13:55:47.891 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 13:55:47.892 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 13:55:47.892 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 13:55:47.892 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 13:55:47.892 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 13:55:47.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 13:55:47.893 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], "gps_2_location": [1.05957, -0.00255, -0.20834], "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], "camera_rear_location": [0.9707, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "ps_location": [1.28577, 0.0, 0.06725], "rear_right_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], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595]}) 13:55:47.893 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 13:55:47.893 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 13:55:47.893 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 } 13:55:47.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 13:55:47.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 58259 13:55:47.893 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 13:55:47.893 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 13:55:47.893 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 13:55:47.893 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 } 13:55:47.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 13:55:47.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 58260 13:55:47.923 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 13:55:48.007 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 13:55:48.007 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 13:55:48.007 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 } 13:55:48.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 13:55:48.007 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 13:55:48.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 58262 13:55:48.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 13:55:48.007 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 13:55:48.007 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 } 13:55:48.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 13:55:48.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 58264 13:55:48.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 13:55:48.009 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 13:55:48.009 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 } 13:55:48.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 13:55:48.009 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 13:55:48.009 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 13:55:48.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 58302 13:55:48.009 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 13:55:48.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 13:55:48.009 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 13:55:48.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 13:55:48.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 13:55:48.009 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 13:55:48.009 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 } 13:55:48.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 13:55:48.009 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 13:55:48.009 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 } 13:55:48.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 58307 13:55:48.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 13:55:48.009 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 13:55:48.009 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 } 13:55:48.010 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 58308 13:55:48.010 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 13:55:48.010 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 58309 13:55:48.027 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 13:55:48.027 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 13:55:48.029 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 13:55:48.029 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 13:55:48.029 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 13:55:48.029 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 } 13:55:48.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 13:55:48.029 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 13:55:48.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 58311 13:55:48.029 INFO [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined 13:55:48.029 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator' 13:55:48.030 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 13:55:48.067 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 13:55:48.067 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 13:55:48.067 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 13:56:09.529 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 13:56:09.529 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AddTask(Transect: 'transect') 13:56:11.662 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Engage 13:56:11.662 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 13:56:11.682 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 13:56:11.722 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 13:56:11.722 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: acbc06c5-ff1d-45ec-be4e-d998066180bf, 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 }) })] 13:56:11.722 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: acbc06c5-ff1d-45ec-be4e-d998066180bf, 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 }) })] 13:56:11.732 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: acbc06c5-ff1d-45ec-be4e-d998066180bf, start_time: Some(23.6 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) 13:56:11.732 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 13:56:11.733 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: c875f993-7079-4bb5-9569-3da66463f06c)"), mode: None } 13:56:11.733 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_13-56-11_Upright task/2025-08-21_13-56-11_Upright task_rust.log" 13:56:11.733 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_13-56-11_Upright task 13:56:11.752 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09845737392958809, Enable control depth: 0.2, Depth control enabled: true 13:56:11.753 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 13:56:11.753 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 13:56:11.753 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: acbc06c5-ff1d-45ec-be4e-d998066180bf, start_time: Some(23.6 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) 13:56:11.753 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: 0.09845737392958809 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 13:56:11.763 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: acbc06c5-ff1d-45ec-be4e-d998066180bf, start_time: Some(23.6 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 }) }) 13:56:11.783 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 13:56:11.783 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 13:56:11.803 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 }))] 13:56:11.803 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Started) 13:56:11.803 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 13:56:11.803 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:281] Updated geodetic origin to: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 } 13:56:11.803 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: 4bb7043e-fbd8-4335-907c-b62911a83d26)"), mode: None } 13:56:11.803 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 }))] 13:56:11.803 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_13-56-11_Upright task") 13:56:11.803 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_13-56-11_move to start of \'transect\'/2025-08-21_13-56-11_move to start of \'transect\'_rust.log" 13:56:11.803 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_13-56-11_move to start of 'transect' 13:56:11.804 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' 13:56:11.834 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09815306523762013, Enable control depth: 0.2, Depth control enabled: true 13:56:11.834 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 13:56:11.834 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 13:56:11.834 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -34.34631549616052 m^1, east: -32.34140579890704 m^1, down: 0.09815306523762013 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } } 13:56:11.834 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: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } }), hold_duration: None } }] 13:56:11.834 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 }) 13:56:11.834 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 13:56:11.843 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:56:12.648 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20433772664049066, Enable control depth: 0.2, Depth control enabled: false 13:56:12.649 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 13:56:14.215 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 13:56:36.438 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: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 13:56:36.438 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:56:36.438 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 }) 13:56:36.458 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:56:38.469 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:56:38.489 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:56:40.500 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:56:40.520 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:56:42.552 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:56:42.572 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:56:44.583 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:56:44.603 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:56:46.614 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:56:46.634 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:56:48.646 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:56:48.666 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:56:50.696 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:56:50.717 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:56:52.728 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:56:52.748 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:56:54.759 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:56:54.779 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:56:56.791 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:56:56.811 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:56:58.843 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:56:58.863 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:57:00.875 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:57:00.895 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:57:02.906 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:57:02.926 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:57:04.937 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:57:04.957 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:57:06.988 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:57:07.008 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:57:09.020 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:57:09.041 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:57:11.051 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:57:11.071 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:57:13.083 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:57:13.103 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:57:15.134 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:57:15.154 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:57:17.165 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:57:17.185 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:57:19.196 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:57:19.216 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:57:21.227 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:57:21.247 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:57:23.278 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:57:23.299 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:57:25.309 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:57:25.329 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:57:26.717 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 13:57:26.717 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 }) 13:57:26.737 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:57:26.737 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 13:57:26.737 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a Transect task 'transect' 13:57:26.737 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 13:57:26.797 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 13:57:26.797 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 13:57:26.797 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 13:57:26.797 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Started) 13:57:26.797 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 13:57:26.797 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_13-56-11_move to start of 'transect'") 13:57:26.797 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: be4e0529-c802-4c1c-9231-e4e0e3488c0f)"), mode: None } 13:57:26.798 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_13-57-26_transect/2025-08-21_13-57-26_transect_rust.log" 13:57:26.798 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_13-57-26_transect 13:57:26.828 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 13:57:26.828 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.183342666498231 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: 0.9084176203135752, lon: 0.0762774232280465 }), 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: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 13:57:26.828 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Preparing) 13:57:26.828 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.12187479726878664 m^1, east: 0.11475903070777949 m^1, down: 5.183342666498231 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } } 13:57:26.828 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 13:57:26.838 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 13:57:56.992 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: Disengage 13:57:56.992 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:154] Disengaging TaskExecutor 13:57:56.992 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:528] Cancelling goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 13:57:56.992 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 13:57:56.993 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 13:57:57.032 INFO [robot_code/peripherals/payload/src/position_camera.rs:224] Stopping PositionCamera recording, because receiver stopped 13:57:57.032 DEBUG [robot_code/peripherals/payload/src/lib.rs:94] Joined payload session thread: Some(Ok(())) 13:57:57.033 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:39] Camera trigger responder stopped: RecvError 13:57:57.033 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_13-57-26_transect") 13:57:57.033 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("IdleMode") } 13:57:59.159 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 13:57:59.165 INFO [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator() 13:57:59.193 INFO [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server 13:57:59.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 13:57:59.588 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 13:58:00.031 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped 13:58:00.045 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_state_publisher' stopped 13:58:01.145 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping... 13:58:01.146 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped 13:58:01.146 INFO [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'state_estimator' 13:58:01.146 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'control' 13:58:01.146 INFO [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'control' 13:58:01.146 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'simulator' 13:58:01.147 INFO [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'simulator' 13:58:01.147 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'path_planner' 13:58:10.043 WARN [robot_code/robot_core/launch/src/lib.rs:462] Not stopped after 10 seconds, aborting program 13:59:02.583 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 13:59:02.583 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 13:59:02.583732206 +02:00 13:59:02.583 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 13:59:02.583 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 13:59:02.583 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 13:59:02.583 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_13-59-02_simulated_scout.lobsterlog") 13:59:02.595 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 13:59:02.760 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086]}) 13:59:02.760 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 13:59:02.761 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] } 13:59:02.795 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086]}) 13:59:02.795 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 13:59:03.300 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086]}) 13:59:03.300 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 13:59:03.300 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 13:59:03.300 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 13:59:03.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 13:59:03.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 13:59:03.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 13:59:03.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 13:59:03.301 WARN [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled 13:59:03.301 WARN [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled 13:59:03.301 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 13:59:03.301 WARN [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled 13:59:03.301 WARN [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled 13:59:03.302 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086]}) 13:59:03.302 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 13:59:03.302 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 13:59:03.302 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 13:59:03.302 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 13:59:03.302 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 13:59:03.302 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 } 13:59:03.303 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 13:59:03.303 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 61099 13:59:03.303 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 13:59:03.303 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 13:59:03.303 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 13:59:03.303 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 13:59:03.304 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 13:59:03.304 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 13:59:03.304 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 13:59:03.304 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 13:59:03.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 13:59:03.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 13:59:03.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 13:59:03.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 13:59:03.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 13:59:03.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 13:59:03.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 13:59:03.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 13:59:03.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 13:59:03.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 13:59:03.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 13:59:03.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 13:59:03.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 13:59:03.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 13:59:03.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 13:59:03.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 13:59:03.309 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 13:59:03.309 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 13:59:03.309 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 13:59:03.309 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 13:59:03.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 13:59:03.310 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086]}) 13:59:03.310 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 13:59:03.310 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 13:59:03.310 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 } 13:59:03.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 13:59:03.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 61128 13:59:03.310 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 13:59:03.310 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 13:59:03.310 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 13:59:03.310 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 } 13:59:03.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 13:59:03.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 61129 13:59:03.340 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 13:59:03.463 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 13:59:03.463 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 13:59:03.463 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 } 13:59:03.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 13:59:03.463 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 13:59:03.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 61132 13:59:03.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 13:59:03.463 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 13:59:03.464 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 } 13:59:03.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 13:59:03.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 61134 13:59:03.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 13:59:03.465 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 13:59:03.465 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 } 13:59:03.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 13:59:03.465 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 13:59:03.465 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 13:59:03.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 61172 13:59:03.465 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 13:59:03.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 13:59:03.465 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 13:59:03.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 13:59:03.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 13:59:03.466 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 13:59:03.466 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 } 13:59:03.466 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 13:59:03.466 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 13:59:03.466 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 } 13:59:03.466 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 13:59:03.466 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 13:59:03.466 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 } 13:59:03.466 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 61177 13:59:03.466 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 13:59:03.466 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 61178 13:59:03.466 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 61179 13:59:03.483 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 13:59:03.483 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 13:59:03.485 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 13:59:03.485 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 13:59:03.486 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 13:59:03.486 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 } 13:59:03.486 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 13:59:03.486 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 13:59:03.486 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 61181 13:59:03.486 INFO [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined 13:59:03.486 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator' 13:59:03.486 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 13:59:03.714 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 13:59:03.715 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {} 13:59:03.715 INFO [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings 13:59:03.725 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 13:59:03.725 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 13:59:13.459 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 13:59:13.460 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AddTask(Transect: 'transect') 13:59:16.679 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Engage 13:59:16.679 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 13:59:16.699 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 13:59:16.739 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 13:59:16.739 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 8852ef3c-944b-4c41-82fc-efe384c52964, 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 }) })] 13:59:16.739 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 8852ef3c-944b-4c41-82fc-efe384c52964, 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 }) })] 13:59:16.750 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 8852ef3c-944b-4c41-82fc-efe384c52964, start_time: Some(13.22 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) 13:59:16.750 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 13:59:16.750 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: 106de025-6337-410b-931d-d845c60e0a2b)"), mode: None } 13:59:16.750 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_13-59-16_Upright task/2025-08-21_13-59-16_Upright task_rust.log" 13:59:16.750 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_13-59-16_Upright task 13:59:16.780 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 8852ef3c-944b-4c41-82fc-efe384c52964, start_time: Some(13.22 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) 13:59:16.780 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 13:59:16.780 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: 0.237821442755487 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 13:59:16.800 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 8852ef3c-944b-4c41-82fc-efe384c52964, start_time: Some(13.22 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 }) }) 13:59:16.820 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 13:59:16.820 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 13:59:16.850 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 }))] 13:59:16.850 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 }))] 13:59:16.850 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Started) 13:59:16.850 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 13:59:16.850 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 } 13:59:16.850 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_13-59-16_Upright task") 13:59:16.850 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: 14d082e8-bd9e-481e-b64c-47f5a45cbd56)"), mode: None } 13:59:16.851 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_13-59-16_move to start of \'transect\'/2025-08-21_13-59-16_move to start of \'transect\'_rust.log" 13:59:16.851 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_13-59-16_move to start of 'transect' 13:59:16.851 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' 13:59:16.881 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 13:59:16.881 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -34.34631549616052 m^1, east: -32.34140579890704 m^1, down: 0.23211954406782098 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } } 13:59:16.881 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 }) 13:59:16.881 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: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } }), hold_duration: None } }] 13:59:16.881 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 13:59:16.900 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:59:18.408 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 13:59:40.835 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: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 13:59:40.835 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 }) 13:59:40.835 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:59:40.855 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:59:42.867 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:59:42.887 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:59:44.898 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:59:44.918 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:59:46.950 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:59:46.950 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:59:48.981 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:59:49.001 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:59:49.727 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 13:59:49.745 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: GetTaskQueue 13:59:49.746 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 13:59:51.013 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:59:51.033 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:59:53.045 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:59:53.065 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:59:55.097 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:59:55.117 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:59:57.129 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:59:57.149 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 13:59:59.160 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 13:59:59.180 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:01.193 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:00:01.213 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:03.244 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:00:03.264 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:05.276 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:00:05.296 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:07.307 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:00:07.327 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:09.338 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:00:09.358 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:11.389 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:00:11.389 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:13.420 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:00:13.440 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:15.451 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:00:15.472 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:17.481 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:00:17.501 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:19.529 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:00:19.549 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:21.559 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:00:21.579 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:23.586 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:00:23.606 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:25.613 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:00:25.634 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:27.663 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:00:27.663 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:29.694 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:00:29.715 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:31.102 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 14:00:31.102 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:00:31.102 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 }) 14:00:31.102 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a Transect task 'transect' 14:00:31.122 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 14:00:31.122 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 14:00:31.142 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 14:00:31.142 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 14:00:31.142 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 14:00:31.142 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Started) 14:00:31.142 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 14:00:31.142 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_13-59-16_move to start of 'transect'") 14:00:31.142 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: be4e0529-c802-4c1c-9231-e4e0e3488c0f)"), mode: None } 14:00:31.143 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/2025-08-21_14-00-31_transect_rust.log" 14:00:31.143 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_14-00-31_transect 14:00:31.157 DEBUG [robot_code/processing/live_stitching/src/mosaic.rs:62] Starting Mosaic with bounds: WGS { latitude_radians: 0.9084209163959278, longitude_radians: 0.07627716881981192 } to WGS { latitude_radians: 0.9084174634557973, longitude_radians: 0.0762776776351576 } 14:00:31.157 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for raw_to_orthophoto 14:00:31.157 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'raw_to_orthophoto' with StopRunningFlag { name: "raw_to_orthophoto", id: 0, stop_running: false, do_auto_stop: true } 14:00:31.157 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'raw_to_orthophoto' successfully started 14:00:31.157 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for live_stitching 14:00:31.157 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'live_stitching' with StopRunningFlag { name: "live_stitching", id: 0, stop_running: false, do_auto_stop: true } 14:00:31.157 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread raw_to_orthophoto with pid: 61342 14:00:31.157 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'live_stitching' successfully started 14:00:31.157 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread live_stitching with pid: 61343 14:00:31.183 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 14:00:31.183 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.1946635179134235 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: 0.9084176203135752, lon: 0.0762774232280465 }), 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: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 14:00:31.183 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.11723905063918863 m^1, east: 0.11039505679011312 m^1, down: 5.1946635179134235 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } } 14:00:31.183 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Preparing) 14:00:31.183 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 14:00:31.202 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:01.314 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: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } }, end: PositionNE { north: 20.013192974267206 m^1, east: -1.7833734489158815e-11 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None } }] 14:01:01.314 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:01.314 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 14:01:01.334 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:01.374 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_0.raw" 14:01:03.343 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:03.343 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:05.372 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:05.392 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:07.400 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:07.420 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:08.666 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 14:01:09.449 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:09.470 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:10.615 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_1.raw" 14:01:11.478 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:11.498 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:13.125 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_3.raw" 14:01:13.507 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:13.527 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:15.537 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:15.537 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_5.raw" 14:01:15.557 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:17.586 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:17.607 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:18.152 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_7.raw" 14:01:19.618 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:19.638 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:20.763 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_9.raw" 14:01:21.648 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:21.668 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:23.380 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_11.raw" 14:01:23.681 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:23.701 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:25.731 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:25.750 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:25.991 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_13.raw" 14:01:27.766 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:27.786 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:28.610 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_15.raw" 14:01:29.795 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:29.816 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:31.223 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_17.raw" 14:01:31.828 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:31.848 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:33.840 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_19.raw" 14:01:33.881 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:33.881 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:35.910 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:35.930 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:36.452 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_21.raw" 14:01:37.939 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:37.940 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:39.065 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_23.raw" 14:01:39.972 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:39.992 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:41.681 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_25.raw" 14:01:42.023 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:42.043 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:44.061 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:44.081 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:44.302 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_27.raw" 14:01:46.089 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:46.110 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:46.914 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_29.raw" 14:01:48.120 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:48.140 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:49.531 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_31.raw" 14:01:50.174 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:50.195 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:52.144 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_33.raw" 14:01:52.204 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:52.225 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:54.236 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:54.256 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:54.758 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_35.raw" 14:01:56.269 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:56.289 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:57.374 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-00-31_transect/photos/mocked_image_37.raw" 14:01:58.323 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:01:58.343 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:59.247 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 14:01:59.267 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Finished) 14:01:59.267 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 14:01:59.287 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:01:59.288 WARN [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now 14:01:59.290 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 14:01:59.290 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 14:01:59.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'raw_to_orthophoto' stopped 14:01:59.308 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:104] Camera trigger responder stopped: RecvError 14:01:59.322 INFO [robot_code/processing/live_stitching/src/live_stitch.rs:92] No more photos to process, stopping live stitching 14:01:59.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'live_stitching' stopped 14:01:59.327 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 14:01:59.327 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) }))] 14:01:59.327 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) }))] 14:01:59.327 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) 14:01:59.327 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 14:01:59.328 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: 464a1518-be0e-49be-9b0f-84a539755b6a)"), mode: None } 14:01:59.328 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_14-00-31_transect") 14:01:59.328 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-01-59_waiting, hold position/2025-08-21_14-01-59_waiting, hold position_rust.log" 14:01:59.328 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_14-01-59_waiting, hold position 14:01:59.328 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position' 14:01:59.358 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 14:01:59.358 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 19.949560758718615 m^1, east: -7.473648559217675e-5 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 14:01:59.358 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) 14:01:59.358 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 19.949560758718615 m^1, east: -7.473648559217675e-5 m^1, down: 9.000708114478199 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } } 14:01:59.358 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) }) 14:01:59.367 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) })) 14:02:43.889 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.1987417927433608, Enable control depth: 0.2, Depth control enabled: true 14:02:43.890 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 14:02:44.593 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 19.949560758718615 m^1, east: -7.473648559217675e-5 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(0.0 s^1) } }] 14:02:44.593 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) }) 14:02:44.594 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) 14:02:44.613 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) })) 14:02:44.633 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) 14:02:44.633 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) }) 14:02:44.653 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) })) 14:02:44.673 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) 14:02:44.674 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) })) 14:02:44.694 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 19.948631838827144 m^1, east: -7.34540947026154e-5 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 14:02:44.694 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) 14:02:44.694 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) }) 14:02:44.713 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) })) 14:02:44.734 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 19.948631838827144 m^1, east: -7.34540947026154e-5 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }] 14:02:44.734 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) 14:02:44.734 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) }) 14:02:44.754 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:02:46.784 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) 14:02:46.804 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:02:48.814 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) 14:02:48.834 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:02:50.845 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) 14:02:50.865 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) })) 14:02:52.876 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) 14:02:52.896 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:02:54.927 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) 14:02:54.947 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:02:56.959 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) 14:02:56.979 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:02:58.989 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) 14:02:59.009 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:03:01.026 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) 14:03:01.045 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:03:03.076 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) 14:03:03.096 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:03:05.106 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) 14:03:05.126 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) })) 14:03:07.138 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) 14:03:07.158 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) })) 14:03:09.169 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) 14:03:09.190 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) })) 14:03:11.221 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) 14:03:11.241 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:03:13.251 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) 14:03:13.272 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:03:15.282 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) 14:03:15.283 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:03:17.313 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) 14:03:17.333 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:03:19.364 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) 14:03:19.364 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:03:21.394 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) 14:03:21.414 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:03:23.428 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) 14:03:23.448 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:03:25.459 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) 14:03:25.479 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:03:27.512 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) 14:03:27.532 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:03:28.678 INFO [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator() 14:03:28.717 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 14:03:28.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 14:03:28.792 INFO [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server 14:03:39.645 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 14:03:39.645 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 14:03:39.645672623 +02:00 14:03:39.645 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 14:03:39.645 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 14:03:39.645 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 14:03:39.645 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-03-39_simulated_scout.lobsterlog") 14:03:39.653 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 14:03:39.802 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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "dvl_location": [1.3305, 0.0, 0.0176], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]}) 14:03:39.803 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 14:03:39.803 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] } 14:03:39.833 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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "dvl_location": [1.3305, 0.0, 0.0176], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]}) 14:03:39.833 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 14:03:40.308 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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "dvl_location": [1.3305, 0.0, 0.0176], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]}) 14:03:40.308 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 14:03:40.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 14:03:40.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 14:03:40.309 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 14:03:40.309 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 14:03:40.309 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 14:03:40.309 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 14:03:40.309 WARN [robot_code/robot_core/launch/src/lib.rs:494] IMU not enabled 14:03:40.309 WARN [robot_code/robot_core/launch/src/lib.rs:512] Magnetometer not enabled 14:03:40.309 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 14:03:40.309 WARN [robot_code/robot_core/launch/src/lib.rs:568] Nortek DVL not enabled 14:03:40.309 WARN [robot_code/robot_core/launch/src/lib.rs:547] GPS not enabled 14:03:40.310 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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "dvl_location": [1.3305, 0.0, 0.0176], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]}) 14:03:40.310 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 14:03:40.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 14:03:40.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 14:03:40.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 14:03:40.311 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 14:03:40.311 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 } 14:03:40.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 14:03:40.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 73444 14:03:40.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 14:03:40.312 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 14:03:40.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 14:03:40.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 14:03:40.313 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 14:03:40.313 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 14:03:40.313 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 14:03:40.313 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 14:03:40.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 14:03:40.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 14:03:40.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 14:03:40.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 14:03:40.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 14:03:40.315 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 14:03:40.315 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 14:03:40.315 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 14:03:40.315 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 14:03:40.316 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 14:03:40.316 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 14:03:40.316 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 14:03:40.316 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 14:03:40.316 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 14:03:40.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 14:03:40.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 14:03:40.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 14:03:40.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 14:03:40.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 14:03:40.318 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 14:03:40.318 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 14:03:40.318 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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "dvl_location": [1.3305, 0.0, 0.0176], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]}) 14:03:40.318 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 14:03:40.318 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 14:03:40.318 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 } 14:03:40.318 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 14:03:40.318 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 73473 14:03:40.318 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 14:03:40.318 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 14:03:40.318 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 14:03:40.318 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 } 14:03:40.318 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 14:03:40.318 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 73474 14:03:40.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 14:03:40.458 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 14:03:40.458 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 14:03:40.458 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 } 14:03:40.458 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 14:03:40.458 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 14:03:40.458 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 73476 14:03:40.458 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 14:03:40.459 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 14:03:40.459 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 } 14:03:40.459 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 14:03:40.459 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 73478 14:03:40.459 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 14:03:40.460 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 14:03:40.460 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 } 14:03:40.460 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 14:03:40.460 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 14:03:40.461 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 73516 14:03:40.461 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 14:03:40.461 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 14:03:40.461 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 14:03:40.461 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 14:03:40.461 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 14:03:40.461 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 14:03:40.462 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 14:03:40.462 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 } 14:03:40.462 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 14:03:40.462 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 14:03:40.462 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 } 14:03:40.462 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 73521 14:03:40.462 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 14:03:40.462 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 14:03:40.462 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 } 14:03:40.462 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 73522 14:03:40.462 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 73523 14:03:40.462 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 14:03:40.479 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 14:03:40.479 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 14:03:40.482 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 14:03:40.482 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 14:03:40.482 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 14:03:40.482 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 } 14:03:40.482 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 14:03:40.482 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 73525 14:03:40.482 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 14:03:40.482 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 14:03:40.482 INFO [robot_code/robot_core/launch/src/lib.rs:467] Waiting until code stops running so threads can be joined 14:03:40.482 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'state_estimator' 14:03:40.567 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 14:03:40.579 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 14:03:40.579 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 14:03:40.706 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {} 14:03:40.706 INFO [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings 14:03:40.712 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 14:03:40.719 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 14:03:40.719 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: GetTaskQueue 14:04:08.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 14:04:08.277 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AddTask(Transect: 'transect') 14:06:03.156 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AddTask(MoveTo: 'moveTo') 14:06:12.166 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AbortPendingTask(be4e0529-c802-4c1c-9231-e4e0e3488c0f) 14:06:12.166 INFO [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:126] Aborting task: Aborted by user 14:06:14.117 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AbortPendingTask(f4b45d8c-4866-48b6-b4c1-5186390c5b3d) 14:06:14.117 INFO [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:126] Aborting task: Aborted by user 14:06:18.722 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: AddTask(MoveTo: 'moveTo') 14:06:26.486 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:208] Received request while idle: Engage 14:06:26.486 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") } 14:06:26.506 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a SimpleGoal task 'Upright task' 14:06:26.546 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 14:06:26.546 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 417606c4-9465-440d-8765-53bec4bcdcda, 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 }) })] 14:06:26.547 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 417606c4-9465-440d-8765-53bec4bcdcda, 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 }) })] 14:06:26.557 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 417606c4-9465-440d-8765-53bec4bcdcda, start_time: Some(165.18 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) 14:06:26.557 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 14:06:26.557 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: 34d698c8-8ecb-4931-96e6-aad700a88edf)"), mode: None } 14:06:26.557 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-06-26_Upright task/2025-08-21_14-06-26_Upright task_rust.log" 14:06:26.557 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_14-06-26_Upright task 14:06:26.577 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849563813037747, Enable control depth: 0.2, Depth control enabled: true 14:06:26.577 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 417606c4-9465-440d-8765-53bec4bcdcda, start_time: Some(165.18 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) 14:06:26.577 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 14:06:26.577 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 14:06:26.577 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: 0.09849563813037747 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } } 14:06:26.587 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 417606c4-9465-440d-8765-53bec4bcdcda, start_time: Some(165.18 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 }) }) 14:06:26.587 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a MoveTo task 'moveTo' 14:06:26.597 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 14:06:26.597 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 14:06:26.627 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 }))] 14:06:26.627 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 }))] 14:06:26.627 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084128273223843, lon: 0.07627653628952064 } 14:06:26.627 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_14-06-26_Upright task") 14:06:26.627 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Started) 14:06:26.627 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 14:06:26.627 INFO [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: MoveTo, name: 'moveTo', id: 4ac72262-ab94-4957-bfb0-7b84e115eb09)"), mode: None } 14:06:26.627 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-06-26_moveTo/2025-08-21_14-06-26_moveTo_rust.log" 14:06:26.628 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_14-06-26_moveTo 14:06:26.657 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.0984956421024481, Enable control depth: 0.2, Depth control enabled: true 14:06:26.657 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 14:06:26.657 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: 0.9084128273223843, lon: 0.07627653628952064 }), update_count: 1 } }), hold_duration: None } }] 14:06:26.657 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 14:06:26.657 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -3.790005271830171 m^1, east: -28.85528724917195 m^1, down: 0.0984956421024481 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084128273223843, lon: 0.07627653628952064 }), update_count: 1 } } 14:06:26.657 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 }) 14:06:26.658 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 14:06:26.667 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:06:27.471 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20467314183228602, Enable control depth: 0.2, Depth control enabled: false 14:06:27.471 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 14:06:29.018 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 14:06:51.263 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084128273223843, lon: 0.07627653628952064 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 14:06:51.263 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:06:51.263 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 }) 14:06:51.283 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:06:53.295 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:06:53.315 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:06:55.326 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:06:55.346 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:06:57.355 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:06:57.375 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:06:59.403 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:06:59.423 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:01.431 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:01.451 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:03.459 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:03.459 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:05.487 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:05.507 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:07.032 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 14:07:07.032 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {} 14:07:07.032 INFO [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings 14:07:07.033 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 14:07:07.033 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: GetTaskQueue 14:07:07.536 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:07.556 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:09.566 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:09.587 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:11.598 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:11.618 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:13.630 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:13.650 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:15.681 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:15.702 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:17.713 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:17.733 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:19.745 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:19.765 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:21.776 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:21.796 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:23.828 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:23.828 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:25.859 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:25.879 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:27.891 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:27.911 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:29.922 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:29.942 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:31.974 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:31.994 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:34.006 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:34.026 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:36.037 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:36.057 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:38.068 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:38.088 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:40.119 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:40.119 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:42.151 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:42.151 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:44.181 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:07:44.201 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:45.368 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.1971128190090088, Enable control depth: 0.2, Depth control enabled: true 14:07:45.368 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 14:07:46.112 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 14:07:46.112 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 }) 14:07:46.132 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Position(PositionGoal { location: Specific3D(PositionGeodetic3D { lat: 0.9084128273223843, lon: 0.07627653628952064, depth: 0.0 m^1 }), max_velocity: 1.0 m^1 s^-1 })) 14:07:46.152 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 14:07:46.152 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) }))] 14:07:46.152 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) }))] 14:07:46.152 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) 14:07:46.153 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 14:07:46.153 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: abf83869-4266-4ab8-8091-7d11f73e7bc1)"), mode: None } 14:07:46.153 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_14-06-26_moveTo") 14:07:46.153 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-07-46_waiting, hold position/2025-08-21_14-07-46_waiting, hold position_rust.log" 14:07:46.153 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_14-07-46_waiting, hold position 14:07:46.153 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position' 14:07:46.172 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.002352462126712304 m^1, east: 0.00624288524823044 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084128273223843, lon: 0.07627653628952064 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 14:07:46.172 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) 14:07:46.172 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) }) 14:07:46.192 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) })) 14:07:46.212 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.002352462126712304 m^1, east: 0.00624288524823044 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084128273223843, lon: 0.07627653628952064 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(0.0 s^1) } }] 14:07:46.212 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) 14:07:46.213 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) }) 14:07:46.232 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) })) 14:07:46.273 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) }) 14:07:46.273 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) })) 14:07:46.273 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) 14:07:46.293 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) 14:07:46.313 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) })) 14:07:46.313 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) 14:07:46.313 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) }) 14:07:46.313 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.0028109654358173686 m^1, east: 0.005727179286288027 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084128273223843, lon: 0.07627653628952064 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 14:07:46.333 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) })) 14:07:46.373 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.0028109654358173686 m^1, east: 0.005727179286288027 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084128273223843, lon: 0.07627653628952064 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }] 14:07:46.373 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) }) 14:07:46.373 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) 14:07:46.393 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) })) 14:07:48.403 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) 14:07:48.423 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:07:50.434 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) 14:07:50.454 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:07:52.486 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) 14:07:52.506 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:07:54.517 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) 14:07:54.538 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:07:56.549 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) 14:07:56.569 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:07:58.580 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) 14:07:58.600 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:00.633 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) 14:08:00.652 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:02.664 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) 14:08:02.684 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:04.696 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) 14:08:04.716 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:06.727 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) 14:08:06.727 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:08.779 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) 14:08:08.780 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:10.811 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) 14:08:10.831 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:12.841 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) 14:08:12.861 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:14.873 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) 14:08:14.893 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:16.925 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) 14:08:16.945 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:18.957 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) 14:08:18.977 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:20.988 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) 14:08:20.988 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:23.020 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) 14:08:23.040 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:25.070 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) 14:08:25.071 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:27.102 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) 14:08:27.122 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:29.134 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) 14:08:29.154 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:31.165 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) 14:08:31.186 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:33.217 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) 14:08:33.237 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:35.248 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) 14:08:35.268 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:37.279 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) 14:08:37.299 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:39.312 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) 14:08:39.331 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:41.362 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) 14:08:41.382 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:43.395 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) 14:08:43.415 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:45.426 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) 14:08:45.446 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:47.457 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) 14:08:47.477 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:49.509 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) 14:08:49.509 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:51.540 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) 14:08:51.560 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:53.571 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) 14:08:53.592 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:55.603 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) 14:08:55.622 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:57.653 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) 14:08:57.673 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:08:59.683 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) 14:08:59.703 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:09:00.810 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage 14:09:00.810 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: AddTask(Transect: 'transect') 14:09:00.830 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:528] Cancelling goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))] 14:09:00.830 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_14-07-46_waiting, hold position") 14:09:00.830 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 14:09:00.830 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 14:09:00.870 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 14:09:00.870 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 }))] 14:09:00.870 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 }))] 14:09:00.870 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: 78eb9f11-5f16-45da-9602-4b56af877e5a)"), mode: None } 14:09:00.870 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Started) 14:09:00.870 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 14:09:00.870 INFO [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:284] Updated geodetic origin to: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 } 14:09:00.871 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-00_move to start of \'transect\'/2025-08-21_14-09-00_move to start of \'transect\'_rust.log" 14:09:00.871 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_14-09-00_move to start of 'transect' 14:09:00.871 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' 14:09:00.901 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.1423342420062381, Enable control depth: 0.2, Depth control enabled: true 14:09:00.901 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 14:09:00.901 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 14:09:00.901 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 }) 14:09:00.901 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -30.524546168218354 m^1, east: -3.502664305680241 m^1, down: 0.1423342420062381 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 2 } } 14:09:00.901 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Preparing) 14:09:00.901 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: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 2 } }), hold_duration: None } }] 14:09:00.910 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:01.483 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.2038694963777825, Enable control depth: 0.2, Depth control enabled: false 14:09:01.483 INFO [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller 14:09:03.021 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 14:09:25.230 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: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 2 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 14:09:25.230 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:25.230 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 }) 14:09:25.250 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:27.261 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:27.281 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:29.293 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:29.313 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:31.346 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:31.366 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:33.377 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:33.397 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:35.409 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:35.430 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:37.442 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:37.462 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:39.495 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:39.515 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:40.718 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 14:09:40.722 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 14:09:40.723 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:140] Received request while active: GetTaskQueue 14:09:41.528 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:41.548 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:43.560 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:43.580 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:45.592 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:45.612 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:47.644 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:47.664 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:49.676 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:49.697 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:51.709 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:51.729 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:53.742 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:53.762 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:55.794 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:55.815 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:57.826 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Executing) 14:09:57.846 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:58.832 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })), Finished) 14:09:58.832 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 }) 14:09:58.852 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: 0.9084176203135752, lon: 0.0762774232280465 }), max_velocity: 1.0 m^1 s^-1 })) 14:09:58.852 INFO [robot_code/robot_core/task_scheduler/src/executor/active.rs:539] Starting a Transect task 'transect' 14:09:58.852 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 14:09:58.853 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 14:09:58.913 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 14:09:58.913 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 14:09:58.913 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Started) 14:09:58.913 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 14:09:58.913 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }))] 14:09:58.913 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: be4e0529-c802-4c1c-9231-e4e0e3488c0f)"), mode: None } 14:09:58.913 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_14-09-00_move to start of 'transect'") 14:09:58.914 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/2025-08-21_14-09-58_transect_rust.log" 14:09:58.914 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_14-09-58_transect 14:09:58.931 DEBUG [robot_code/processing/live_stitching/src/mosaic.rs:62] Starting Mosaic with bounds: WGS { latitude_radians: 0.9084209948247864, longitude_radians: 0.07627704161565636 } to WGS { latitude_radians: 0.9084173850268967, longitude_radians: 0.07627780483867486 } 14:09:58.931 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for raw_to_orthophoto 14:09:58.931 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'raw_to_orthophoto' with StopRunningFlag { name: "raw_to_orthophoto", id: 0, stop_running: false, do_auto_stop: true } 14:09:58.931 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'raw_to_orthophoto' successfully started 14:09:58.931 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for live_stitching 14:09:58.931 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'live_stitching' with StopRunningFlag { name: "live_stitching", id: 0, stop_running: false, do_auto_stop: true } 14:09:58.931 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'live_stitching' successfully started 14:09:58.931 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread raw_to_orthophoto with pid: 73955 14:09:58.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread live_stitching with pid: 73956 14:09:58.943 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 14:09:58.943 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.15745005284915783 m^1, east: 0.018065491856304766 m^1, down: 5.245766254725783 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 2 } } 14:09:58.943 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.245766254725783 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: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 2 } }), 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: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 2 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }] 14:09:58.944 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Preparing) 14:09:58.944 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 14:09:58.953 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:28.842 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: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 2 } }, end: PositionNE { north: 20.013192974267206 m^1, east: -1.7833734489158815e-11 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 2 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None } }] 14:10:28.843 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:28.843 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 14:10:28.862 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:28.903 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_0.raw" 14:10:30.897 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:30.917 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:32.929 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:32.949 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:34.961 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:34.981 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:36.993 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:37.012 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:38.361 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal 14:10:39.046 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:39.065 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:40.272 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_1.raw" 14:10:41.086 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:41.099 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:42.796 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_3.raw" 14:10:43.123 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:43.144 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:45.156 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:45.176 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:45.216 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_5.raw" 14:10:47.209 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:47.229 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:47.833 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_7.raw" 14:10:49.241 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:49.261 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:50.449 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_9.raw" 14:10:51.276 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:51.295 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:53.067 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_11.raw" 14:10:53.309 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:53.329 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:55.362 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:55.382 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:55.685 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_13.raw" 14:10:57.404 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:57.424 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:10:58.312 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_15.raw" 14:10:59.446 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:10:59.466 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:00.934 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_17.raw" 14:11:01.485 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:11:01.505 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:03.540 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:11:03.561 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:03.561 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_19.raw" 14:11:05.575 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:11:05.595 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:06.177 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_21.raw" 14:11:07.618 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:11:07.639 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:08.806 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_23.raw" 14:11:09.657 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:11:09.677 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:11.428 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_25.raw" 14:11:11.710 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:11:11.730 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:13.743 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:11:13.763 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:14.045 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_27.raw" 14:11:15.777 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:11:15.797 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:16.663 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_29.raw" 14:11:17.812 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:11:17.832 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:19.281 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_31.raw" 14:11:19.865 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:11:19.885 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:21.898 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:11:21.899 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_33.raw" 14:11:21.922 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:23.936 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:11:23.956 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:24.520 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_35.raw" 14:11:25.973 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:11:25.993 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:27.143 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-09-58_transect/photos/mocked_image_37.raw" 14:11:28.028 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Executing) 14:11:28.028 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:29.054 INFO [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:168] Line navigation complete 14:11:29.074 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })), Finished) 14:11:29.075 INFO [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None }) 14:11:29.094 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Line(LineGoal { start: PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }, end: PositionGeodetic { lat: 0.9084207595381866, lon: 0.0762774232280465 }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: None })) 14:11:29.095 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters 14:11:29.095 WARN [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now 14:11:29.095 INFO [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped 14:11:29.115 INFO [robot_code/peripherals/camera/src/mocked_camera.rs:104] Camera trigger responder stopped: RecvError 14:11:29.115 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'raw_to_orthophoto' stopped 14:11:29.135 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring 14:11:29.135 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) }))] 14:11:29.135 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update 14:11:29.135 INFO [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-21_14-09-58_transect") 14:11:29.135 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) 14:11:29.136 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) }))] 14:11:29.136 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: ab1cd16a-4640-4ef2-b23a-9e8cde209f52)"), mode: None } 14:11:29.137 INFO [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_14-11-29_waiting, hold position/2025-08-21_14-11-29_waiting, hold position_rust.log" 14:11:29.137 INFO [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-21_14-11-29_waiting, hold position 14:11:29.137 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position' 14:11:29.167 INFO [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 19.94938980774962 m^1, east: -9.150917130971203e-5 m^1, down: 9.000586733484099 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 2 } } 14:11:29.169 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 19.94938980774962 m^1, east: -9.150917130971203e-5 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 2 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 14:11:29.169 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) 14:11:29.169 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) }) 14:11:29.170 INFO [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters 14:11:29.177 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) })) 14:11:29.214 INFO [robot_code/processing/live_stitching/src/live_stitch.rs:92] No more photos to process, stopping live stitching 14:11:29.225 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'live_stitching' stopped 14:12:13.716 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.198615036417916, Enable control depth: 0.2, Depth control enabled: true 14:12:13.716 INFO [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control. 14:12:14.420 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 19.94938980774962 m^1, east: -9.150917130971203e-5 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 2 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(0.0 s^1) } }] 14:12:14.421 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) 14:12:14.421 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) }) 14:12:14.440 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) })) 14:12:14.461 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) }) 14:12:14.461 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) 14:12:14.480 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) })) 14:12:14.501 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) 14:12:14.501 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) })) 14:12:14.521 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 19.948494482349716 m^1, east: -9.734102269470259e-5 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 2 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }] 14:12:14.521 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) 14:12:14.521 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) }) 14:12:14.541 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) })) 14:12:14.561 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 19.948494482349716 m^1, east: -9.734102269470259e-5 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084176203135752, lon: 0.0762774232280465 }), update_count: 2 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }] 14:12:14.561 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) 14:12:14.562 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) }) 14:12:14.581 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:16.613 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) 14:12:16.633 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:18.644 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) 14:12:18.664 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:20.675 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) 14:12:20.695 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:22.706 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) 14:12:22.726 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:24.758 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) 14:12:24.778 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:26.790 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) 14:12:26.810 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:28.822 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) 14:12:28.842 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:30.854 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) 14:12:30.873 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:32.904 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) 14:12:32.905 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:34.936 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) 14:12:34.956 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:36.967 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) 14:12:36.988 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:38.999 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) 14:12:39.019 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:41.051 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) 14:12:41.071 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:43.082 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) 14:12:43.102 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:45.114 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) 14:12:45.134 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:47.146 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) 14:12:47.166 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) })) 14:12:49.199 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) 14:12:49.218 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:51.231 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) 14:12:51.251 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:53.262 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) 14:12:53.282 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:55.293 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) 14:12:55.314 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:57.346 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) 14:12:57.366 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:12:59.378 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) 14:12:59.398 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:01.409 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) 14:13:01.429 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:03.440 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) 14:13:03.460 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:05.493 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) 14:13:05.512 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:07.524 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) 14:13:07.544 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:09.555 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) 14:13:09.575 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:11.587 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) 14:13:11.607 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:13.638 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) 14:13:13.658 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:15.669 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) 14:13:15.689 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:17.701 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) 14:13:17.721 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:19.733 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) 14:13:19.753 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:21.784 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) 14:13:21.804 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:23.816 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) 14:13:23.836 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:25.847 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) })), Executing) 14:13:25.867 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:27.879 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) 14:13:27.899 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:29.930 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) 14:13:29.950 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:31.962 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) 14:13:31.982 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:33.994 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) 14:13:34.014 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:36.028 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) 14:13:36.048 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:38.080 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) 14:13:38.100 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:40.112 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) 14:13:40.132 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:42.143 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) 14:13:42.163 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:44.175 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) 14:13:44.195 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:46.227 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) 14:13:46.246 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:48.258 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) 14:13:48.278 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:50.290 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) 14:13:50.310 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:52.323 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) 14:13:52.342 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:54.373 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) 14:13:54.394 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:56.405 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) 14:13:56.426 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:13:58.437 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) 14:13:58.457 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:00.469 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) 14:14:00.489 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:02.521 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) 14:14:02.521 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:04.552 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) 14:14:04.572 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:06.584 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) 14:14:06.604 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:08.615 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) 14:14:08.635 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:10.666 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) 14:14:10.687 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:12.699 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) 14:14:12.719 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:14.731 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) 14:14:14.751 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:16.767 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) 14:14:16.787 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:18.818 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) 14:14:18.819 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:20.861 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) 14:14:20.879 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:22.908 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) 14:14:22.928 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) })) 14:14:24.939 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) 14:14:24.959 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) })) 14:14:26.991 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) 14:14:27.011 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) })) 14:14:29.027 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) 14:14:29.049 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:31.258 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) 14:14:31.271 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:33.366 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) 14:14:33.383 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:35.414 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) 14:14:35.434 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:37.446 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) 14:14:37.466 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:39.477 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) 14:14:39.497 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:41.508 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) 14:14:41.528 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:43.559 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) 14:14:43.559 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:45.590 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) 14:14:45.611 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:47.621 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) 14:14:47.641 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:49.652 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) 14:14:49.672 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:51.704 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) 14:14:51.724 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:53.735 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) 14:14:53.755 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:55.766 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) 14:14:55.787 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:57.798 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) 14:14:57.817 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:14:59.849 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) 14:14:59.869 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:01.880 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) 14:15:01.900 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:03.911 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) 14:15:03.931 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:05.943 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) 14:15:05.963 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:08.004 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) 14:15:08.030 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:10.109 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) 14:15:10.134 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:12.242 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) 14:15:12.263 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:14.326 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) 14:15:14.350 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:16.404 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) 14:15:16.424 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:18.449 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) 14:15:18.469 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:20.481 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) 14:15:20.501 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:22.525 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) 14:15:22.546 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:24.577 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) 14:15:24.597 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:26.637 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) 14:15:26.657 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:28.715 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) 14:15:28.733 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:30.809 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) 14:15:30.825 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:32.930 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) 14:15:32.949 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:35.061 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) 14:15:35.063 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })) 14:15:35.427 INFO [robot_code/utilities/simulator/src/simulator.rs:331] Simulator dropped: Simulator() 14:15:35.497 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 14:15:35.567 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped 14:15:35.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 14:15:35.603 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_state_publisher' stopped 14:15:35.903 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 14:15:36.356 INFO [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server 14:15:37.410 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping... 14:15:37.432 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped 14:15:37.433 INFO [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'state_estimator' 14:15:37.434 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'control' 14:15:37.436 INFO [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'control' 14:15:37.436 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'simulator' 14:15:37.437 INFO [robot_code/robot_core/launch/src/lib.rs:481] Joined thread 'simulator' 14:15:37.438 INFO [robot_code/robot_core/launch/src/lib.rs:477] Trying to join thread 'path_planner' 14:15:45.588 WARN [robot_code/robot_core/launch/src/lib.rs:462] Not stopped after 10 seconds, aborting program 15:39:26.415 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 15:39:26.416 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 15:39:26.415971556 +02:00 15:39:26.416 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 15:39:26.416 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 15:39:26.416 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 15:39:26.416 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_15-39-26_simulated_scout.lobsterlog") 15:39:26.422 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 15:39:26.567 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], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 15:39:26.567 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 15:39:26.568 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] } 15:39:26.601 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], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 15:39:26.601 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 15:39:27.057 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], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 15:39:27.057 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 15:39:27.057 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 15:39:27.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 15:39:27.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 15:39:27.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 15:39:27.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 15:39:27.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 15:39:27.059 WARN [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled 15:39:27.059 WARN [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled 15:39:27.059 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 15:39:27.059 WARN [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled 15:39:27.059 WARN [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled 15:39:27.059 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], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 15:39:27.059 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 15:39:27.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 15:39:27.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 15:39:27.060 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 15:39:27.060 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 15:39:27.060 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 } 15:39:27.060 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 15:39:27.060 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 153534 15:39:27.060 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 15:39:27.060 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 15:39:27.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 15:39:27.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 15:39:27.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 15:39:27.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 15:39:27.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 15:39:27.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 15:39:27.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 15:39:27.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 15:39:27.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 15:39:27.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 15:39:27.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 15:39:27.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 15:39:27.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 15:39:27.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 15:39:27.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 15:39:27.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 15:39:27.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 15:39:27.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 15:39:27.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 15:39:27.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 15:39:27.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 15:39:27.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 15:39:27.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 15:39:27.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 15:39:27.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 15:39:27.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 15:39:27.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 15:39:27.067 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], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_location": [0.93573, 0.00255, -0.17048], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 15:39:27.067 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 15:39:27.067 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 15:39:27.067 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 } 15:39:27.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 15:39:27.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 153563 15:39:27.067 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 15:39:27.067 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 15:39:27.067 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 15:39:27.067 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 } 15:39:27.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 15:39:27.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 153564 15:39:27.097 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 15:39:27.193 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 15:39:27.193 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 15:39:27.193 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 } 15:39:27.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 15:39:27.193 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 15:39:27.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 153567 15:39:27.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 15:39:27.193 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 15:39:27.193 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 } 15:39:27.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 15:39:27.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 153569 15:39:27.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 15:39:27.195 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 15:39:27.195 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 } 15:39:27.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 15:39:27.195 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 15:39:27.195 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 15:39:27.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 153607 15:39:27.195 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 15:39:27.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 15:39:27.195 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 15:39:27.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 15:39:27.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 15:39:27.196 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 15:39:27.196 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 } 15:39:27.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 15:39:27.196 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 15:39:27.196 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 } 15:39:27.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 15:39:27.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 153612 15:39:27.196 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 15:39:27.196 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 } 15:39:27.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 153613 15:39:27.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 153614 15:39:27.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 15:39:27.213 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 15:39:27.213 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 15:39:27.216 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 15:39:27.216 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 15:39:27.216 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 15:39:27.216 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 } 15:39:27.216 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 15:39:27.216 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 153616 15:39:27.216 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 15:39:27.216 INFO [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined 15:39:27.216 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator' 15:39:27.217 INFO [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 15:39:27.357 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 15:39:27.374 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 15:39:27.374 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 15:39:27.386 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 15:39:27.394 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 15:39:27.394 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 15:39:34.255 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 15:39:34.272 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 15:39:34.272 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 15:43:28.576 INFO [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator() 15:43:28.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 15:43:28.635 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 15:43:29.024 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 15:43:29.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped 15:43:29.533 INFO [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server 15:43:30.555 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping... 15:43:30.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped 15:43:30.592 INFO [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'state_estimator' 15:43:30.592 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'control' 15:43:30.592 INFO [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'control' 15:43:30.592 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'simulator' 15:43:30.592 INFO [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'simulator' 15:43:30.592 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'path_planner' 15:43:39.301 WARN [robot_code/robot_core/launch/src/lib.rs:466] Not stopped after 10 seconds, aborting program 17:41:14.174 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 17:41:14.176 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 17:41:14.176952469 +02:00 17:41:14.176 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 17:41:14.176 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:41:14.177 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 17:41:14.177 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_17-41-14_simulated_scout.lobsterlog") 17:41:14.179 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 17:41:14.311 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], "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], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "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]}) 17:41:14.311 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 17:41:14.312 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] } 17:41:14.337 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], "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], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "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]}) 17:41:14.337 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 17:41:14.721 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], "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], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "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]}) 17:41:14.721 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 17:41:14.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 17:41:14.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 17:41:14.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 17:41:14.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 17:41:14.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 17:41:14.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 17:41:14.722 WARN [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled 17:41:14.722 WARN [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled 17:41:14.722 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 17:41:14.722 WARN [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled 17:41:14.722 WARN [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled 17:41:14.722 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], "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], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "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]}) 17:41:14.722 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 17:41:14.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 17:41:14.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 17:41:14.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 17:41:14.723 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 17:41:14.723 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 } 17:41:14.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 17:41:14.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 226716 17:41:14.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 17:41:14.724 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 17:41:14.724 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 17:41:14.724 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 17:41:14.724 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 17:41:14.724 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 17:41:14.724 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 17:41:14.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 17:41:14.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 17:41:14.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 17:41:14.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 17:41:14.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 17:41:14.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 17:41:14.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 17:41:14.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 17:41:14.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 17:41:14.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 17:41:14.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 17:41:14.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 17:41:14.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 17:41:14.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 17:41:14.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 17:41:14.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 17:41:14.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 17:41:14.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 17:41:14.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 17:41:14.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 17:41:14.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 17:41:14.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 17:41:14.728 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], "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], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "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]}) 17:41:14.728 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 17:41:14.728 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 17:41:14.728 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 } 17:41:14.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 17:41:14.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 226745 17:41:14.729 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 17:41:14.729 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 17:41:14.729 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 17:41:14.729 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 } 17:41:14.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 17:41:14.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 226746 17:41:14.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 17:41:14.834 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 17:41:14.834 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 17:41:14.834 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 } 17:41:14.834 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 17:41:14.834 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 17:41:14.834 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 226748 17:41:14.834 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 17:41:14.834 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 17:41:14.834 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 } 17:41:14.835 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 17:41:14.835 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 226750 17:41:14.835 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 17:41:14.836 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 17:41:14.836 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 } 17:41:14.836 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 17:41:14.836 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 17:41:14.836 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 226788 17:41:14.836 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 17:41:14.836 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 17:41:14.836 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 17:41:14.836 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 17:41:14.836 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 17:41:14.836 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 17:41:14.837 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 17:41:14.837 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 } 17:41:14.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 17:41:14.837 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 17:41:14.837 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 } 17:41:14.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 17:41:14.837 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 17:41:14.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 226793 17:41:14.837 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 } 17:41:14.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 226794 17:41:14.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 17:41:14.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 226795 17:41:14.854 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:41:14.854 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 17:41:14.857 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 17:41:14.857 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 17:41:14.857 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 17:41:14.857 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 } 17:41:14.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 17:41:14.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 226797 17:41:14.858 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 17:41:14.858 INFO [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined 17:41:14.858 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator' 17:41:14.858 INFO [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces 17:41:14.858 INFO [robot_code/peripherals/communication/src/discovery_node.rs:76] Sending heartbeats to: {"192.168.30.255:10899", "255.255.255.255:10899"} 17:41:14.954 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 17:41:14.955 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 17:41:14.956 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:41:15.365 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 17:41:15.378 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:41:15.378 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 17:42:21.333 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 17:42:21.352 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:42:21.352 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 17:43:41.573 INFO [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator() 17:43:41.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 17:43:41.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 17:43:41.866 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped 17:43:41.958 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 17:43:42.030 INFO [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server 17:43:43.553 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping... 17:43:43.557 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped 17:43:43.557 INFO [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'state_estimator' 17:43:43.557 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'control' 17:43:43.557 INFO [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'control' 17:43:43.557 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'simulator' 17:43:43.557 INFO [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'simulator' 17:43:43.558 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'path_planner' 17:43:51.878 WARN [robot_code/robot_core/launch/src/lib.rs:466] Not stopped after 10 seconds, aborting program 17:44:42.088 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 17:44:42.088 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 17:44:42.088318202 +02:00 17:44:42.088 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 17:44:42.088 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:44:42.088 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 17:44:42.088 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_17-44-42_simulated_scout.lobsterlog") 17:44:42.092 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 17:44:42.215 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725]}) 17:44:42.215 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 17:44:42.216 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] } 17:44:42.241 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725]}) 17:44:42.241 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 17:44:42.611 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725]}) 17:44:42.611 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 17:44:42.611 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 17:44:42.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 17:44:42.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 17:44:42.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 17:44:42.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 17:44:42.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 17:44:42.613 WARN [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled 17:44:42.613 WARN [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled 17:44:42.613 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 17:44:42.613 WARN [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled 17:44:42.613 WARN [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled 17:44:42.613 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725]}) 17:44:42.613 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 17:44:42.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 17:44:42.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 17:44:42.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 17:44:42.614 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 17:44:42.614 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 } 17:44:42.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 17:44:42.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 227894 17:44:42.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 17:44:42.614 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 17:44:42.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 17:44:42.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 17:44:42.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 17:44:42.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 17:44:42.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 17:44:42.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 17:44:42.616 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 17:44:42.616 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 17:44:42.616 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 17:44:42.616 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 17:44:42.617 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 17:44:42.617 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 17:44:42.617 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 17:44:42.617 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 17:44:42.617 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 17:44:42.618 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 17:44:42.618 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 17:44:42.618 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 17:44:42.618 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 17:44:42.618 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 17:44:42.619 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 17:44:42.619 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 17:44:42.619 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 17:44:42.619 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 17:44:42.620 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 17:44:42.620 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 17:44:42.620 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 17:44:42.620 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725]}) 17:44:42.620 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 17:44:42.620 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 17:44:42.620 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 } 17:44:42.620 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 17:44:42.620 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 227923 17:44:42.620 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 17:44:42.620 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 17:44:42.621 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 17:44:42.621 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 } 17:44:42.621 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 17:44:42.621 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 227924 17:44:42.651 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 17:44:42.726 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 17:44:42.726 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 17:44:42.726 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 } 17:44:42.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 17:44:42.726 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 17:44:42.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 227926 17:44:42.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 17:44:42.727 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 17:44:42.727 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 } 17:44:42.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 17:44:42.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 227928 17:44:42.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 17:44:42.728 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 17:44:42.728 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 } 17:44:42.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 17:44:42.728 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 17:44:42.728 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 17:44:42.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 227966 17:44:42.728 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 17:44:42.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 17:44:42.728 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 17:44:42.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 17:44:42.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 17:44:42.729 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 17:44:42.729 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 } 17:44:42.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 17:44:42.729 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 17:44:42.729 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 } 17:44:42.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 227971 17:44:42.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 17:44:42.729 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 17:44:42.729 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 } 17:44:42.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 227972 17:44:42.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 17:44:42.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 227973 17:44:42.746 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:44:42.746 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 17:44:42.748 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 17:44:42.748 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 17:44:42.748 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 17:44:42.748 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 } 17:44:42.748 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 17:44:42.748 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 227975 17:44:42.749 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 17:44:42.749 INFO [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined 17:44:42.749 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator' 17:44:42.749 INFO [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces 17:44:42.749 INFO [robot_code/peripherals/communication/src/discovery_node.rs:76] Sending heartbeats to: {"255.255.255.255:10899", "192.168.30.255:10899"} 17:44:42.862 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 17:44:42.867 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 17:44:42.867 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:44:45.520 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 17:44:45.526 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 17:44:45.527 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:45:00.169 INFO [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator() 17:45:00.177 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 17:45:00.188 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 17:45:00.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 17:45:00.739 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped 17:45:00.773 INFO [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server 17:45:02.150 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping... 17:45:02.151 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped 17:45:02.151 INFO [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'state_estimator' 17:45:02.151 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'control' 17:45:02.152 INFO [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'control' 17:45:02.152 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'simulator' 17:45:02.152 INFO [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'simulator' 17:45:02.152 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'path_planner' 17:45:10.752 WARN [robot_code/robot_core/launch/src/lib.rs:466] Not stopped after 10 seconds, aborting program 17:45:18.438 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 17:45:18.438 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 17:45:18.438747772 +02:00 17:45:18.438 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 17:45:18.438 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:45:18.438 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 17:45:18.438 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_17-45-18_simulated_scout.lobsterlog") 17:45:18.445 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 17:45:18.566 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], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "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], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]}) 17:45:18.566 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 17:45:18.567 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] } 17:45:18.591 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], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "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], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]}) 17:45:18.591 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 17:45:18.962 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], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "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], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]}) 17:45:18.962 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 17:45:18.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 17:45:18.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 17:45:18.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 17:45:18.963 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 17:45:18.963 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 17:45:18.963 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 17:45:18.963 WARN [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled 17:45:18.963 WARN [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled 17:45:18.963 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 17:45:18.963 WARN [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled 17:45:18.963 WARN [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled 17:45:18.963 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], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "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], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]}) 17:45:18.963 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 17:45:18.963 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 17:45:18.963 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 17:45:18.964 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 17:45:18.964 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 17:45:18.964 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 } 17:45:18.964 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 17:45:18.964 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 228640 17:45:18.964 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 17:45:18.965 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 17:45:18.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 17:45:18.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 17:45:18.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 17:45:18.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 17:45:18.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 17:45:18.966 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 17:45:18.966 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 17:45:18.966 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 17:45:18.966 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 17:45:18.967 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 17:45:18.967 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 17:45:18.967 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 17:45:18.967 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 17:45:18.967 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 17:45:18.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 17:45:18.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 17:45:18.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 17:45:18.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 17:45:18.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 17:45:18.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 17:45:18.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 17:45:18.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 17:45:18.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 17:45:18.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 17:45:18.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 17:45:18.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 17:45:18.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 17:45:18.970 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], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "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], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]}) 17:45:18.970 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 17:45:18.970 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 17:45:18.970 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 } 17:45:18.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 17:45:18.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 228669 17:45:18.970 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 17:45:18.970 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 17:45:18.970 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 17:45:18.970 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 } 17:45:18.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 17:45:18.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 228670 17:45:19.001 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 17:45:19.078 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 17:45:19.078 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 17:45:19.078 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 } 17:45:19.078 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 17:45:19.078 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 17:45:19.078 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 228672 17:45:19.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 17:45:19.079 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 17:45:19.079 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 } 17:45:19.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 17:45:19.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 228674 17:45:19.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 17:45:19.080 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 17:45:19.080 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 } 17:45:19.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 17:45:19.080 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 17:45:19.080 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 17:45:19.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 228712 17:45:19.080 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 17:45:19.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 17:45:19.080 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 17:45:19.080 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 17:45:19.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 17:45:19.081 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 17:45:19.081 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 } 17:45:19.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 17:45:19.081 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 17:45:19.081 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 } 17:45:19.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 17:45:19.081 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 17:45:19.081 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 } 17:45:19.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 228717 17:45:19.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 17:45:19.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 228718 17:45:19.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 228719 17:45:19.099 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 17:45:19.099 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:45:19.100 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 17:45:19.100 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 17:45:19.101 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 17:45:19.101 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 } 17:45:19.101 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 17:45:19.101 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 228721 17:45:19.101 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 17:45:19.101 INFO [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined 17:45:19.101 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator' 17:45:19.101 INFO [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces 17:45:19.101 INFO [robot_code/peripherals/communication/src/discovery_node.rs:76] Sending heartbeats to: {"255.255.255.255:10899", "192.168.30.255:10899"} 17:45:19.188 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 17:45:19.200 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:45:19.200 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 17:45:19.208 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 17:45:19.220 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 17:45:19.220 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:45:20.377 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 17:45:20.389 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:45:20.389 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 17:45:38.194 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 17:45:38.213 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 17:45:38.213 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:51:23.789 INFO [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator() 17:51:23.801 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 17:51:23.824 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 17:51:23.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 19:35:16.949 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 19:35:16.951 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-21 19:35:16.951807430 +02:00 19:35:16.951 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 19:35:16.951 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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_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/2025-08-21_simulated_scout/2025-08-21_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 19:35:16.952 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 19:35:16.952 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-21_simulated_scout/2025-08-21_19-35-16_simulated_scout.lobsterlog") 19:35:16.956 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 19:35:17.141 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "magnetometer_location": [1.06914, 0.00188, -0.20086], "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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 19:35:17.141 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 19:35:17.142 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] } 19:35:17.173 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "magnetometer_location": [1.06914, 0.00188, -0.20086], "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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 19:35:17.173 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 19:35:17.591 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "magnetometer_location": [1.06914, 0.00188, -0.20086], "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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 19:35:17.591 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 19:35:17.591 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 19:35:17.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 19:35:17.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 19:35:17.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 19:35:17.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 19:35:17.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 19:35:17.592 WARN [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled 19:35:17.592 WARN [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled 19:35:17.592 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 19:35:17.592 WARN [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled 19:35:17.592 WARN [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled 19:35:17.592 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "magnetometer_location": [1.06914, 0.00188, -0.20086], "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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 19:35:17.592 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 19:35:17.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 19:35:17.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 19:35:17.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 19:35:17.594 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 19:35:17.594 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 } 19:35:17.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 19:35:17.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 18479 19:35:17.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 19:35:17.595 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module 19:35:17.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 19:35:17.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 19:35:17.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 19:35:17.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 19:35:17.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 19:35:17.596 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 19:35:17.596 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 19:35:17.596 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 19:35:17.596 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 19:35:17.596 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 19:35:17.597 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 19:35:17.597 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 19:35:17.597 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 19:35:17.597 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 19:35:17.597 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 19:35:17.597 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 19:35:17.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 19:35:17.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 19:35:17.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 19:35:17.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 19:35:17.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 19:35:17.599 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 19:35:17.599 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 19:35:17.599 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 19:35:17.599 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 19:35:17.599 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 19:35:17.599 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 19:35:17.600 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "magnetometer_location": [1.06914, 0.00188, -0.20086], "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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 19:35:17.600 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 19:35:17.600 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 19:35:17.600 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 } 19:35:17.600 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 19:35:17.600 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 18508 19:35:17.600 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 19:35:17.600 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 19:35:17.600 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 19:35:17.600 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 } 19:35:17.600 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 19:35:17.600 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 18509 19:35:17.630 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 19:35:17.711 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 19:35:17.711 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 19:35:17.711 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 } 19:35:17.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 19:35:17.712 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 19:35:17.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 18511 19:35:17.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 19:35:17.712 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 19:35:17.712 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 } 19:35:17.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 19:35:17.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 18513 19:35:17.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 19:35:17.713 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 19:35:17.713 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 } 19:35:17.713 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 19:35:17.713 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 19:35:17.713 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 19:35:17.713 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 18551 19:35:17.713 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 19:35:17.713 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 19:35:17.713 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 19:35:17.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 19:35:17.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 19:35:17.714 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 19:35:17.714 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 } 19:35:17.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 19:35:17.714 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 19:35:17.714 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 } 19:35:17.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 18556 19:35:17.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 18557 19:35:17.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 19:35:17.714 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 19:35:17.714 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 } 19:35:17.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 19:35:17.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 18558 19:35:17.732 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 19:35:17.732 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 19:35:17.734 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 19:35:17.734 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 19:35:17.734 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 19:35:17.734 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 } 19:35:17.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 19:35:17.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 18560 19:35:17.734 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 19:35:17.734 INFO [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined 19:35:17.734 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator' 19:35:17.736 INFO [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces 19:35:17.736 INFO [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: {"192.168.30.255:10899", "255.255.255.255:10899"} 19:36:03.320 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 19:36:03.334 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 19:36:03.334 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 19:36:55.379 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 19:36:55.391 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 19:36:55.391 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 20:05:55.595 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:05:55.598 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:05:56.098 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:05:56.098 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:05:56.598 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:05:56.598 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:05:57.098 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:05:57.098 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:05:57.599 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:05:57.599 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:05:58.099 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:05:58.099 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:05:58.599 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:05:58.599 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:05:59.100 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:05:59.100 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:05:59.600 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:05:59.600 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:00.100 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:00.100 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:00.600 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:00.601 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:01.101 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:01.101 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:01.601 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:01.601 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:02.101 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:02.101 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:02.602 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:02.602 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:03.102 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:03.102 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:03.602 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:03.602 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:04.102 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:04.102 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:04.603 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:04.603 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:05.103 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:05.103 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:05.603 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:05.603 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:06.103 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:06.104 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:06.604 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:06.604 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:07.104 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:07.104 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:07.604 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:07.604 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:08.105 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:08.105 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:08.605 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:08.605 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:09.105 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:09.105 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:09.606 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:09.606 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:10.106 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:10.106 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:10.606 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:10.606 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:11.107 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:11.107 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:11.607 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:11.607 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:12.107 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:12.107 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:12.608 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:12.608 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:13.108 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:13.108 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:13.608 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:13.608 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:14.109 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:14.109 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:14.609 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:14.609 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:15.109 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:15.110 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:15.610 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:15.610 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:16.110 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:16.110 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:16.611 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:16.611 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:17.111 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:17.111 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:17.611 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:17.611 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:18.112 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:18.112 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:18.612 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:18.612 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:19.112 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:19.112 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:19.613 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:19.613 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:20.113 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:20.113 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:20.613 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:20.613 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:21.114 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:21.114 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:21.614 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:21.614 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:22.114 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:22.114 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:22.615 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:22.615 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:23.115 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:23.115 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:23.615 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:23.615 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:24.116 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:24.116 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:24.616 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:24.616 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:25.116 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:25.116 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:25.616 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:25.617 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:26.117 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:26.117 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:26.617 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:26.617 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:27.118 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:27.118 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:27.618 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:27.618 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:28.118 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:28.118 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:28.619 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:28.619 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:29.119 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:29.119 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:29.619 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:29.619 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:30.120 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:30.120 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:30.620 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:30.620 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:31.120 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:31.120 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:31.621 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:31.621 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:32.121 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:32.121 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:32.621 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:32.621 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:33.122 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:33.122 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:33.622 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:33.622 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:34.122 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:34.123 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:34.623 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:34.623 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:35.123 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:35.123 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:35.624 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:35.624 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:36.124 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:36.124 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:36.624 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:36.624 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:37.125 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:37.125 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:37.625 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:37.625 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:38.125 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:38.125 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:38.626 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:38.626 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:39.126 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:39.126 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:39.626 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:39.626 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:40.127 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:40.127 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:40.627 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:40.627 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:41.127 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:41.127 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:41.628 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:41.628 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:42.128 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:42.128 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:42.628 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:42.628 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:43.129 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:43.129 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:43.629 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:43.629 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:44.130 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:44.130 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:44.630 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:44.630 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:45.130 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:45.130 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:45.631 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:45.631 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:46.131 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:46.131 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:46.631 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:46.631 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:47.132 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:47.132 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:47.632 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:47.632 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:48.132 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:48.132 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:48.633 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:48.633 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:49.133 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:49.133 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:49.633 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:49.633 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:50.134 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:50.134 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:50.634 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:50.634 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:51.134 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:51.134 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:51.634 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:51.634 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:52.135 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:52.135 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:52.635 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:52.635 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:53.135 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:53.135 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:53.636 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:53.636 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:54.136 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:54.136 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:54.636 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:54.636 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:55.137 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:55.137 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:55.637 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:55.637 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:56.137 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:56.137 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:56.638 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:56.638 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:57.138 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:57.138 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:57.638 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:57.638 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:58.139 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:58.139 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:58.639 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:58.639 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:59.139 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:59.140 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:06:59.640 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:06:59.640 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:00.140 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:00.140 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:00.641 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:00.641 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:01.141 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:01.141 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:01.641 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:01.641 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:02.142 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:02.142 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:02.642 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:02.642 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:03.143 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:03.143 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:03.643 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:03.643 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:04.143 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:04.143 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:04.644 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:04.644 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:05.144 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:05.144 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:05.644 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:05.644 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:06.145 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:06.145 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:06.645 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:06.645 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:07.145 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:07.145 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:07.645 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:07.645 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:08.145 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:08.146 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:08.646 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:08.646 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:09.146 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:192.168.30.255:10899 - Network is unreachable (os error 101) 20:07:09.146 ERROR [robot_code/peripherals/communication/src/discovery_node.rs:79] Error sending heartbeat to addr:255.255.255.255:10899 - Network is unreachable (os error 101) 20:07:09.437 INFO [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator() 20:07:09.446 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 20:07:09.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 20:07:09.646 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 20:07:10.033 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped 20:07:10.054 INFO [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server 20:07:11.417 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping... 20:07:11.418 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped 20:07:11.418 INFO [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'state_estimator' 20:07:11.418 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'control' 20:07:11.418 INFO [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'control' 20:07:11.418 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'simulator' 20:07:11.418 INFO [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'simulator' 20:07:11.418 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'path_planner' 20:07:20.044 WARN [robot_code/robot_core/launch/src/lib.rs:466] Not stopped after 10 seconds, aborting program