13:16:20.339 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
13:16:20.339 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-22 13:16:20.339348184 +02:00
13:16:20.339 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
13:16:20.339 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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
13:16:20.339 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
13:16:20.339 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-16-20_simulated_scout.lobsterlog")
13:16:20.347 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
13:16:20.822 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "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], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
13:16:20.822 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
13:16:20.828 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] }
13:16:20.914 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "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], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
13:16:20.914 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
13:16:22.201 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "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], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
13:16:22.202 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
13:16:22.202 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
13:16:22.203 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
13:16:22.205 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
13:16:22.206 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
13:16:22.206 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
13:16:22.207 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
13:16:22.207 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
13:16:22.207 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
13:16:22.207 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
13:16:22.207 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
13:16:22.207 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
13:16:22.207 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "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], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
13:16:22.207 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
13:16:22.207 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
13:16:22.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
13:16:22.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
13:16:22.211 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
13:16:22.211 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 }
13:16:22.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
13:16:22.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 119387
13:16:22.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
13:16:22.213 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
13:16:22.213 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
13:16:22.214 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
13:16:22.215 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
13:16:22.216 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
13:16:22.217 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
13:16:22.217 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
13:16:22.218 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
13:16:22.218 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
13:16:22.218 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
13:16:22.219 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
13:16:22.219 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
13:16:22.220 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
13:16:22.220 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
13:16:22.220 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
13:16:22.221 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
13:16:22.221 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
13:16:22.222 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
13:16:22.222 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
13:16:22.223 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
13:16:22.223 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
13:16:22.224 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
13:16:22.224 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
13:16:22.225 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
13:16:22.225 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
13:16:22.226 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
13:16:22.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
13:16:22.228 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
13:16:22.228 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "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], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
13:16:22.228 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
13:16:22.228 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
13:16:22.228 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 }
13:16:22.229 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
13:16:22.229 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 119416
13:16:22.229 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
13:16:22.229 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
13:16:22.229 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
13:16:22.229 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 }
13:16:22.229 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
13:16:22.229 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 119417
13:16:22.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
13:16:22.605 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
13:16:22.605 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
13:16:22.605 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 }
13:16:22.605 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
13:16:22.606 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
13:16:22.606 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 119419
13:16:22.606 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
13:16:22.607 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
13:16:22.607 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 }
13:16:22.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
13:16:22.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 119421
13:16:22.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
13:16:22.611 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
13:16:22.611 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 }
13:16:22.611 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
13:16:22.611 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
13:16:22.612 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
13:16:22.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 119459
13:16:22.612 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
13:16:22.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
13:16:22.613 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
13:16:22.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
13:16:22.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
13:16:22.616 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
13:16:22.616 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 }
13:16:22.616 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
13:16:22.616 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
13:16:22.616 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 }
13:16:22.616 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 119464
13:16:22.617 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
13:16:22.617 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
13:16:22.617 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 }
13:16:22.617 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
13:16:22.617 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 119465
13:16:22.617 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 119466
13:16:22.626 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:16:22.636 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
13:16:22.646 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
13:16:22.646 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
13:16:22.646 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
13:16:22.646 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 }
13:16:22.646 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
13:16:22.646 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 119468
13:16:22.647 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
13:16:22.647 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
13:16:22.647 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
13:16:22.647 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
13:16:22.703 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:16:22.706 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:16:22.706 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:16:22.714 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:16:22.727 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:16:22.727 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:17:40.237 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:17:40.251 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:17:40.252 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:18:09.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
13:18:09.211 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: 'areaInspection')
13:18:11.282 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
13:18:11.282 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
13:18:11.302 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SimpleGoal task 'Upright task'
13:18:11.362 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
13:18:11.362 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 5d9df105-c10c-4e59-ae6f-24cb23265584, 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 }) })]
13:18:11.362 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 5d9df105-c10c-4e59-ae6f-24cb23265584, 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 }) })]
13:18:11.372 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 5d9df105-c10c-4e59-ae6f-24cb23265584, start_time: Some(108.16 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)
13:18:11.372 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
13:18:11.372 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: 80a99e67-ee30-4117-8dfd-e36eef99d7f0)"), mode: None }
13:18:11.373 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-18-11_Upright task/2025-08-22_13-18-11_Upright task_rust.log"
13:18:11.373 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-22_13-18-11_Upright task
13:18:11.393 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849563967374159, Enable control depth: 0.2, Depth control enabled: true
13:18:11.393 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 5d9df105-c10c-4e59-ae6f-24cb23265584, start_time: Some(108.16 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)
13:18:11.393 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
13:18:11.393 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
13:18:11.393 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: 0.09849563967374159 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
13:18:11.403 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 5d9df105-c10c-4e59-ae6f-24cb23265584, start_time: Some(108.16 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 }) })
13:18:11.413 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
13:18:11.413 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
13:18:11.473 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 }))]
13:18:11.473 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: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 }))]
13:18:11.473 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 })), Started)
13:18:11.473 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
13:18:11.473 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 'areaInspection'', id: e545b52b-5883-4d3d-b222-cd76fa02d4da)"), mode: None }
13:18:11.473 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-22_13-18-11_Upright task")
13:18:11.473 INFO  [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:281] Updated geodetic origin to: PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }
13:18:11.474 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-18-11_move to start of \'areaInspection\'/2025-08-22_13-18-11_move to start of \'areaInspection\'_rust.log"
13:18:11.474 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-22_13-18-11_move to start of 'areaInspection'
13:18:11.474 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:561] Starting task 'move to start of 'areaInspection'', to prepare for SurveyArea task 'areaInspection'
13:18:11.494 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849564264473867, Enable control depth: 0.2, Depth control enabled: true
13:18:11.495 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
13:18:11.495 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -2.496098327047752 m^1, east: -4.364895843447666 m^1, down: 0.09849564264473867 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }
13:18:11.495 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
13:18:11.495 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: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }), hold_duration: None } }]
13:18:11.495 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 })), Preparing)
13:18:11.495 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 })
13:18:11.503 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: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 }))
13:18:12.308 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.2046832935730567, Enable control depth: 0.2, Depth control enabled: false
13:18:12.308 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller
13:18:13.855 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
13:18:36.106 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: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }]
13:18:36.106 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
13:18:36.106 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: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 })
13:18:36.126 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: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 }))
13:18:38.138 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
13:18:38.158 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: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 }))
13:18:40.169 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
13:18:40.190 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: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 }))
13:18:42.201 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
13:18:42.221 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: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 }))
13:18:44.253 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
13:18:44.273 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: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 }))
13:18:44.917 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 })), Finished)
13:18:44.917 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 })
13:18:44.917 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: 0.9084126243758271, lon: 0.07627030579644718 }), max_velocity: 1.0 m^1 s^-1 }))
13:18:44.917 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SurveyArea task 'areaInspection'
13:18:44.957 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
13:18:44.957 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114484838696 0.0762683937714555,0.9084138002677856 0.0762683937714555,0.9084138002677856 0.07627221782143884,0.9084114484838696 0.07627221782143884,0.9084114484838696 0.0762683937714555)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
13:18:44.957 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114484838696 0.0762683937714555,0.9084138002677856 0.0762683937714555,0.9084138002677856 0.07627221782143884,0.9084114484838696 0.07627221782143884,0.9084114484838696 0.0762683937714555)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
13:18:44.957 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114484838696 0.0762683937714555,0.9084138002677856 0.0762683937714555,0.9084138002677856 0.07627221782143884,0.9084114484838696 0.07627221782143884,0.9084114484838696 0.0762683937714555)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
13:18:44.957 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
13:18:44.957 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-22_13-18-11_move to start of 'areaInspection'")
13:18:44.957 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'areaInspection', id: f997632f-d4c3-4f4b-b87a-c54c8321f25b)"), mode: None }
13:18:44.958 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-18-44_areaInspection/2025-08-22_13-18-44_areaInspection_rust.log"
13:18:44.958 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-22_13-18-44_areaInspection
13:18:44.977 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.263762530598484 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 7.646485706428479 m^1, east: 6.805846933670444 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 7.646485706428479 m^1, east: 6.805846933670444 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }), target_velocity: 0.5 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
13:18:44.977 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114484838696 0.0762683937714555,0.9084138002677856 0.0762683937714555,0.9084138002677856 0.07627221782143884,0.9084114484838696 0.07627221782143884,0.9084114484838696 0.0762683937714555)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing)
13:18:44.977 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114484838696 0.0762683937714555,0.9084138002677856 0.0762683937714555,0.9084138002677856 0.07627221782143884,0.9084114484838696 0.07627221782143884,0.9084114484838696 0.0762683937714555)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
13:18:44.997 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114484838696 0.0762683937714555,0.9084138002677856 0.0762683937714555,0.9084138002677856 0.07627221782143884,0.9084114484838696 0.07627221782143884,0.9084114484838696 0.0762683937714555)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:18:45.007 DEBUG [robot_code/processing/live_stitching/src/mosaic.rs:62] Starting Mosaic with bounds: WGS { latitude_radians: 0.9084140355544006, longitude_radians: 0.07626801216246051 } to WGS { latitude_radians: 0.9084112131971773, longitude_radians: 0.07627259942905641 }
13:18:45.007 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for raw_to_orthophoto
13:18:45.007 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 }
13:18:45.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'raw_to_orthophoto' successfully started
13:18:45.007 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for live_stitching
13:18:45.007 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 }
13:18:45.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'live_stitching' successfully started
13:18:45.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread raw_to_orthophoto with pid: 120088
13:18:45.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread live_stitching with pid: 120089
13:19:16.326 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.646485706428479 m^1, east: 6.805846933670444 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: -7.646474281688739 m^1, east: 6.805846933670444 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.646474281688739 m^1, east: 5.945711239116722 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: 7.646485706428479 m^1, east: 5.945711239116722 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.646485706428479 m^1, east: 5.085575544563 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: -7.646474281688739 m^1, east: 5.085575544563 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.646474281688739 m^1, east: 4.225439850009279 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: 7.646485706428479 m^1, east: 4.225439850009279 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.646485706428479 m^1, east: 3.365304155455557 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: -7.646474281688739 m^1, east: 3.365304155455557 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.646474281688739 m^1, east: 2.505168460901835 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: 7.646485706428479 m^1, east: 2.505168460901835 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.646485706428479 m^1, east: 1.6450327663481135 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: -7.646474281688739 m^1, east: 1.6450327663481135 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.646474281688739 m^1, east: 0.7848970717943918 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: 7.646485706428479 m^1, east: 0.7848970717943918 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.646485706428479 m^1, east: -0.0752386227593298 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: -7.646474281688739 m^1, east: -0.0752386227593298 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.646474281688739 m^1, east: -0.9353743173130514 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: 7.646485706428479 m^1, east: -0.9353743173130514 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.646485706428479 m^1, east: -1.795510011866773 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: -7.646474281688739 m^1, east: -1.795510011866773 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.646474281688739 m^1, east: -2.655645706420495 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: 7.646485706428479 m^1, east: -2.655645706420495 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.646485706428479 m^1, east: -3.5157814009742165 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: -7.646474281688739 m^1, east: -3.5157814009742165 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.646474281688739 m^1, east: -4.375917095527938 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: 7.646485706428479 m^1, east: -4.375917095527938 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.646485706428479 m^1, east: -5.23605279008166 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: -7.646474281688739 m^1, east: -5.23605279008166 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.646474281688739 m^1, east: -6.096188484635381 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: 7.646485706428479 m^1, east: -6.096188484635381 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.646485706428479 m^1, east: -6.956324179189103 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, end: PositionNE { north: -7.646474281688739 m^1, east: -6.956324179189103 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084126243758271, lon: 0.07627030579644718 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }]
13:19:16.326 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114484838696 0.0762683937714555,0.9084138002677856 0.0762683937714555,0.9084138002677856 0.07627221782143884,0.9084114484838696 0.07627221782143884,0.9084114484838696 0.0762683937714555)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:19:16.326 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114484838696 0.0762683937714555,0.9084138002677856 0.0762683937714555,0.9084138002677856 0.07627221782143884,0.9084114484838696 0.07627221782143884,0.9084114484838696 0.0762683937714555)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
13:19:16.346 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114484838696 0.0762683937714555,0.9084138002677856 0.0762683937714555,0.9084138002677856 0.07627221782143884,0.9084114484838696 0.07627221782143884,0.9084114484838696 0.0762683937714555)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:19:16.447 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-18-44_areaInspection/photos/mocked_image_0.raw"
13:19:16.459 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}}

13:21:45.754 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
13:21:45.754 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-22 13:21:45.754701580 +02:00
13:21:45.754 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
13:21:45.754 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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
13:21:45.754 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
13:21:45.754 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-21-45_simulated_scout.lobsterlog")
13:21:45.760 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
13:21:45.983 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_front_location": [1.1187, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "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], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 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]})
13:21:45.983 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
13:21:45.985 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: 4.0, 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] }
13:21:46.023 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_front_location": [1.1187, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "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], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 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]})
13:21:46.023 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
13:21:46.770 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_front_location": [1.1187, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "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], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 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]})
13:21:46.771 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
13:21:46.771 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
13:21:46.772 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
13:21:46.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
13:21:46.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
13:21:46.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
13:21:46.776 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
13:21:46.776 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
13:21:46.776 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
13:21:46.776 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
13:21:46.776 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
13:21:46.776 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
13:21:46.776 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_front_location": [1.1187, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "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], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 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]})
13:21:46.777 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
13:21:46.777 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
13:21:46.777 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
13:21:46.778 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
13:21:46.779 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
13:21:46.779 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 }
13:21:46.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
13:21:46.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 121686
13:21:46.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
13:21:46.782 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
13:21:46.782 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
13:21:46.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
13:21:46.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
13:21:46.785 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
13:21:46.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
13:21:46.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
13:21:46.787 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
13:21:46.787 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
13:21:46.788 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
13:21:46.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
13:21:46.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
13:21:46.791 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
13:21:46.796 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
13:21:46.797 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
13:21:46.797 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
13:21:46.797 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
13:21:46.798 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
13:21:46.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
13:21:46.801 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
13:21:46.801 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
13:21:46.802 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
13:21:46.802 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
13:21:46.806 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
13:21:46.811 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
13:21:46.811 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
13:21:46.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
13:21:46.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
13:21:46.813 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"camera_front_location": [1.1187, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "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], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 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]})
13:21:46.814 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
13:21:46.814 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
13:21:46.814 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 }
13:21:46.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
13:21:46.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 121715
13:21:46.815 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
13:21:46.815 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
13:21:46.815 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
13:21:46.815 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 }
13:21:46.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
13:21:46.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 121716
13:21:46.839 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
13:21:47.214 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
13:21:47.214 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
13:21:47.214 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 }
13:21:47.215 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
13:21:47.215 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
13:21:47.217 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 121718
13:21:47.217 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
13:21:47.218 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
13:21:47.218 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 }
13:21:47.218 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
13:21:47.219 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 121720
13:21:47.219 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
13:21:47.224 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
13:21:47.225 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 }
13:21:47.225 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
13:21:47.225 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
13:21:47.225 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
13:21:47.225 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
13:21:47.225 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
13:21:47.226 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
13:21:47.226 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
13:21:47.227 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
13:21:47.227 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 }
13:21:47.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 121757
13:21:47.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 121762
13:21:47.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
13:21:47.228 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
13:21:47.228 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 }
13:21:47.228 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
13:21:47.228 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
13:21:47.228 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 }
13:21:47.228 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
13:21:47.228 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
13:21:47.231 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 121763
13:21:47.231 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 121764
13:21:47.237 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:21:47.247 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
13:21:47.264 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
13:21:47.264 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
13:21:47.269 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
13:21:47.269 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 }
13:21:47.269 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
13:21:47.270 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
13:21:47.270 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
13:21:47.270 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
13:21:47.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 121767
13:21:47.284 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
13:21:47.335 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:21:47.335 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:21:47.340 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:21:47.341 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:21:47.341 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:21:47.341 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:21:47.402 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:21:47.403 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {}
13:21:47.403 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:21:47.403 INFO  [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings
13:21:47.403 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:22:03.345 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
13:22:03.345 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: '15.0 x 15.0 Inspection')
13:22:05.679 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
13:22:05.679 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
13:22:05.700 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SimpleGoal task 'Upright task'
13:22:05.739 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
13:22:05.739 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 58427201-b97b-4ea0-9a7f-271798d0203c, 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 }) })]
13:22:05.739 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 58427201-b97b-4ea0-9a7f-271798d0203c, 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 }) })]
13:22:05.749 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 58427201-b97b-4ea0-9a7f-271798d0203c, start_time: Some(18.42 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)
13:22:05.750 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
13:22:05.750 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: 7719cbf8-310d-4317-a805-b0f8e1a0f6f2)"), mode: None }
13:22:05.750 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-22-05_Upright task/2025-08-22_13-22-05_Upright task_rust.log"
13:22:05.750 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-22_13-22-05_Upright task
13:22:05.781 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09606160552941323, Enable control depth: 0.2, Depth control enabled: true
13:22:05.781 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 58427201-b97b-4ea0-9a7f-271798d0203c, start_time: Some(18.42 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)
13:22:05.781 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
13:22:05.781 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
13:22:05.781 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: 0.09606160552941323 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
13:22:05.800 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 58427201-b97b-4ea0-9a7f-271798d0203c, start_time: Some(18.42 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 }) })
13:22:05.800 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SurveyArea task '15.0 x 15.0 Inspection'
13:22:05.820 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
13:22:05.821 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
13:22:05.821 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
13:22:05.821 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
13:22:05.821 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-22_13-22-05_Upright task")
13:22:05.821 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: '15.0 x 15.0 Inspection', id: 3167468d-dddb-49a4-96b0-563492296a53)"), mode: None }
13:22:05.822 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-22-05_15.0 x 15.0 Inspection/2025-08-22_13-22-05_15.0 x 15.0 Inspection_rust.log"
13:22:05.822 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-22_13-22-05_15.0 x 15.0 Inspection
13:22:05.840 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.999890597341722 m^1. Interpolating depth and velocity.
13:22:05.840 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.2961949975386309 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -7.6300841413612375 m^1, east: 6.8058038517691495 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: -7.6300841413612375 m^1, east: 6.8058038517691495 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 0.4 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
13:22:05.840 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })
13:22:05.840 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing)
13:22:05.842 DEBUG [robot_code/processing/live_stitching/src/mosaic.rs:62] Starting Mosaic with bounds: WGS { latitude_radians: 0.9084136465932009, longitude_radians: 0.07626690169897528 } to WGS { latitude_radians: 0.9084108242359757, longitude_radians: 0.07627148896328438 }
13:22:05.842 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for raw_to_orthophoto
13:22:05.842 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 }
13:22:05.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'raw_to_orthophoto' successfully started
13:22:05.842 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for live_stitching
13:22:05.842 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 }
13:22:05.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread raw_to_orthophoto with pid: 121806
13:22:05.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'live_stitching' successfully started
13:22:05.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread live_stitching with pid: 121807
13:22:05.860 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:22:06.684 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.2027866363235984, Enable control depth: 0.2, Depth control enabled: false
13:22:06.685 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller
13:22:08.252 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
13:22:09.859 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9959027443863651 m^1. Interpolating depth and velocity.
13:22:13.876 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9997636354433532 m^1. Interpolating depth and velocity.
13:22:17.895 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9986313846308574 m^1. Interpolating depth and velocity.
13:22:21.914 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9986352134076686 m^1. Interpolating depth and velocity.
13:22:25.932 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9986326091687445 m^1. Interpolating depth and velocity.
13:22:29.951 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9986306749054816 m^1. Interpolating depth and velocity.
13:22:33.969 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9986292546591748 m^1. Interpolating depth and velocity.
13:22:37.987 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9986282144574496 m^1. Interpolating depth and velocity.
13:22:41.062 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: 6.8058038517691495 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: 6.8058038517691495 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: 5.945668157215428 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: 5.945668157215428 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: 5.085532462661706 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: 5.085532462661706 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: 4.225396768107984 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: 4.225396768107984 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: 3.3652610735542625 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: 3.3652610735542625 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: 2.5051253790005408 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: 2.5051253790005408 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: 1.644989684446819 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: 1.644989684446819 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: 0.7848539898930974 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: 0.7848539898930974 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: -0.07528170466062423 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: -0.07528170466062423 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: -0.9354173992143459 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: -0.9354173992143459 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: -1.7955530937680675 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: -1.7955530937680675 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: -2.6556887883217892 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: -2.6556887883217892 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: -3.515824482875511 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: -3.515824482875511 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: -4.375960177429232 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: -4.375960177429232 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: -5.236095871982954 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: -5.236095871982954 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: -6.096231566536676 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: -6.096231566536676 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: -6.9563672610903975 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: -6.9563672610903975 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }]
13:22:41.062 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:22:41.062 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })
13:22:41.082 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:22:41.122 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-22-05_15.0 x 15.0 Inspection/photos/mocked_image_0.raw"
13:22:41.135 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}}

13:24:38.609 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
13:24:38.609 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-22 13:24:38.609484482 +02:00
13:24:38.609 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
13:24:38.609 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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
13:24:38.609 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
13:24:38.609 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-38_simulated_scout.lobsterlog")
13:24:38.614 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
13:24:38.827 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], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066]})
13:24:38.827 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
13:24:38.828 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: 4.0, 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] }
13:24:38.872 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], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066]})
13:24:38.872 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
13:24:39.575 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], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066]})
13:24:39.575 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
13:24:39.575 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
13:24:39.576 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
13:24:39.576 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
13:24:39.576 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
13:24:39.577 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
13:24:39.577 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
13:24:39.577 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
13:24:39.577 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
13:24:39.577 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
13:24:39.577 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
13:24:39.577 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
13:24:39.577 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], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066]})
13:24:39.577 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
13:24:39.577 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
13:24:39.577 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
13:24:39.578 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
13:24:39.578 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
13:24:39.578 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 }
13:24:39.578 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
13:24:39.578 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 123277
13:24:39.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
13:24:39.579 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
13:24:39.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
13:24:39.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
13:24:39.580 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
13:24:39.580 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
13:24:39.580 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
13:24:39.581 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
13:24:39.581 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
13:24:39.581 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
13:24:39.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
13:24:39.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
13:24:39.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
13:24:39.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
13:24:39.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
13:24:39.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
13:24:39.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
13:24:39.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
13:24:39.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
13:24:39.587 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
13:24:39.587 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
13:24:39.588 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
13:24:39.589 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
13:24:39.589 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
13:24:39.589 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
13:24:39.590 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
13:24:39.590 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
13:24:39.590 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
13:24:39.591 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
13:24:39.591 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], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066]})
13:24:39.591 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
13:24:39.591 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
13:24:39.591 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 }
13:24:39.591 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
13:24:39.591 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 123306
13:24:39.591 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
13:24:39.591 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
13:24:39.591 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
13:24:39.591 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 }
13:24:39.591 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
13:24:39.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 123307
13:24:39.622 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
13:24:39.802 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
13:24:39.802 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
13:24:39.802 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 }
13:24:39.802 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
13:24:39.802 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
13:24:39.803 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 123309
13:24:39.803 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
13:24:39.804 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
13:24:39.804 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 }
13:24:39.804 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
13:24:39.804 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 123311
13:24:39.804 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
13:24:39.806 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
13:24:39.806 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 }
13:24:39.806 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
13:24:39.806 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
13:24:39.806 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 123349
13:24:39.806 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
13:24:39.806 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
13:24:39.806 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
13:24:39.806 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
13:24:39.807 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
13:24:39.807 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
13:24:39.808 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
13:24:39.808 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 }
13:24:39.808 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
13:24:39.808 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
13:24:39.808 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 }
13:24:39.808 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 123354
13:24:39.808 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
13:24:39.808 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
13:24:39.808 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 }
13:24:39.808 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 123355
13:24:39.808 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
13:24:39.808 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 123356
13:24:39.823 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:24:39.823 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
13:24:39.827 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
13:24:39.828 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
13:24:39.828 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
13:24:39.828 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 }
13:24:39.828 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
13:24:39.828 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 123358
13:24:39.828 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
13:24:39.828 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
13:24:39.828 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
13:24:39.828 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
13:24:39.863 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:24:39.880 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:24:39.883 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:24:39.883 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:24:39.883 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:24:39.883 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:24:39.968 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:24:39.969 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {}
13:24:39.969 INFO  [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings
13:24:39.983 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:24:39.983 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:24:54.744 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
13:24:54.744 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: '15.0 x 15.0 Inspection')
13:24:56.111 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
13:24:56.111 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
13:24:56.131 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SimpleGoal task 'Upright task'
13:24:56.171 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
13:24:56.172 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 416f7d69-339f-43f2-9692-9f18261a2fde, 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 }) })]
13:24:56.172 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 416f7d69-339f-43f2-9692-9f18261a2fde, 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 }) })]
13:24:56.182 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 416f7d69-339f-43f2-9692-9f18261a2fde, start_time: Some(16.32 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)
13:24:56.182 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
13:24:56.182 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: 86e67b8e-3a8e-4e9e-a172-5aa8e64c98d8)"), mode: None }
13:24:56.182 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_Upright task/2025-08-22_13-24-56_Upright task_rust.log"
13:24:56.182 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-22_13-24-56_Upright task
13:24:56.212 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.10846088369292982, Enable control depth: 0.2, Depth control enabled: true
13:24:56.212 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 416f7d69-339f-43f2-9692-9f18261a2fde, start_time: Some(16.32 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)
13:24:56.212 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
13:24:56.212 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
13:24:56.212 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: 0.10846088369292982 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
13:24:56.232 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 416f7d69-339f-43f2-9692-9f18261a2fde, start_time: Some(16.32 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 }) })
13:24:56.232 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SurveyArea task '15.0 x 15.0 Inspection'
13:24:56.252 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
13:24:56.252 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
13:24:56.272 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
13:24:56.272 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
13:24:56.272 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
13:24:56.272 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
13:24:56.272 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: '15.0 x 15.0 Inspection', id: 3167468d-dddb-49a4-96b0-563492296a53)"), mode: None }
13:24:56.272 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-22_13-24-56_Upright task")
13:24:56.273 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/2025-08-22_13-24-56_15.0 x 15.0 Inspection_rust.log"
13:24:56.273 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-22_13-24-56_15.0 x 15.0 Inspection
13:24:56.288 DEBUG [robot_code/processing/live_stitching/src/mosaic.rs:62] Starting Mosaic with bounds: WGS { latitude_radians: 0.9084136465932009, longitude_radians: 0.07626690169897528 } to WGS { latitude_radians: 0.9084108242359757, longitude_radians: 0.07627148896328438 }
13:24:56.288 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for raw_to_orthophoto
13:24:56.288 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 }
13:24:56.288 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'raw_to_orthophoto' successfully started
13:24:56.288 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for live_stitching
13:24:56.288 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 }
13:24:56.288 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'live_stitching' successfully started
13:24:56.288 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread raw_to_orthophoto with pid: 123399
13:24:56.289 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread live_stitching with pid: 123400
13:24:56.323 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.10889732920995504, Enable control depth: 0.2, Depth control enabled: true
13:24:56.323 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
13:24:56.323 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
13:24:56.323 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.296328611718607 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -7.6300841413612375 m^1, east: 6.8058038517691495 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: -7.6300841413612375 m^1, east: 6.8058038517691495 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 0.4 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
13:24:56.323 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })
13:24:56.323 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing)
13:24:56.324 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0000349006560958 m^1. Interpolating depth and velocity.
13:24:56.324 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 6.739299444903872e-26 m^1, east: 1.4522984263128814e-28 m^1, down: 0.10889732920995504 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
13:24:56.332 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:24:57.056 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller
13:24:57.057 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.2001396181127535, Enable control depth: 0.2, Depth control enabled: false
13:24:58.633 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
13:25:00.342 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.995897646416255 m^1. Interpolating depth and velocity.
13:25:04.361 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9998003272830731 m^1. Interpolating depth and velocity.
13:25:08.380 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9986281311714054 m^1. Interpolating depth and velocity.
13:25:12.398 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.99863187195497 m^1. Interpolating depth and velocity.
13:25:16.416 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9986298252947279 m^1. Interpolating depth and velocity.
13:25:20.434 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9986276731300228 m^1. Interpolating depth and velocity.
13:25:24.453 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9986263553489625 m^1. Interpolating depth and velocity.
13:25:28.472 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9986253898986766 m^1. Interpolating depth and velocity.
13:25:31.547 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: 6.8058038517691495 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: 6.8058038517691495 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: 5.945668157215428 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: 5.945668157215428 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: 5.085532462661706 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: 5.085532462661706 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: 4.225396768107984 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: 4.225396768107984 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: 3.3652610735542625 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: 3.3652610735542625 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: 2.5051253790005408 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: 2.5051253790005408 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: 1.644989684446819 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: 1.644989684446819 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: 0.7848539898930974 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: 0.7848539898930974 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: -0.07528170466062423 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: -0.07528170466062423 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: -0.9354173992143459 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: -0.9354173992143459 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: -1.7955530937680675 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: -1.7955530937680675 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: -2.6556887883217892 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: -2.6556887883217892 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: -3.515824482875511 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: -3.515824482875511 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: -4.375960177429232 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: -4.375960177429232 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: -5.236095871982954 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: -5.236095871982954 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.662875787151337 m^1, east: -6.096231566536676 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.6300841413612375 m^1, east: -6.096231566536676 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.6300841413612375 m^1, east: -6.9563672610903975 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.662875787151337 m^1, east: -6.9563672610903975 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4 m^1 s^-1, forced_heading: Some(0.0) } }]
13:25:31.547 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:25:31.547 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })
13:25:31.566 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:25:31.667 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_0.raw"
13:25:33.596 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:25:33.616 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:25:35.626 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:25:35.646 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:25:37.656 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:25:37.676 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:25:39.685 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:25:39.705 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:25:39.846 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:25:41.715 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_1.raw"
13:25:41.738 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:25:41.757 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:25:43.768 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:25:43.788 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:25:44.331 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_3.raw"
13:25:45.778 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:25:45.798 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:25:46.946 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_5.raw"
13:25:47.810 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:25:47.830 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:25:49.560 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_7.raw"
13:25:49.843 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:25:49.863 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:25:51.893 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:25:51.913 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:25:52.175 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_9.raw"
13:25:53.926 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:25:53.946 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:25:54.790 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_11.raw"
13:25:55.957 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:25:55.977 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:25:57.389 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_13.raw"
13:25:58.000 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:25:58.021 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:00.022 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_15.raw"
13:26:00.063 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:00.082 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:02.096 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:02.116 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:02.638 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_17.raw"
13:26:04.130 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:04.151 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:05.258 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_19.raw"
13:26:06.166 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:06.186 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:07.874 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_21.raw"
13:26:08.216 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:08.236 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:10.248 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:10.267 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:10.489 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_23.raw"
13:26:12.280 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:12.300 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:13.105 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_25.raw"
13:26:14.313 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:14.333 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:15.723 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_27.raw"
13:26:16.367 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:16.387 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:18.338 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_29.raw"
13:26:18.398 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:18.418 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:18.579 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:26:20.428 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:20.448 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:20.951 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_30.raw"
13:26:22.461 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:22.481 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:22.522 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:26:24.069 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_31.raw"
13:26:24.511 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:24.531 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:26.482 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_33.raw"
13:26:26.543 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:26.563 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:28.574 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:28.595 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:28.896 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_35.raw"
13:26:30.607 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:30.627 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:31.310 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_37.raw"
13:26:32.658 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:32.677 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:33.823 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_39.raw"
13:26:34.687 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:34.707 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:36.436 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_41.raw"
13:26:36.718 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:36.738 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:38.750 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:38.770 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:39.051 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_43.raw"
13:26:40.802 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:40.822 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:41.668 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_45.raw"
13:26:42.835 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:42.855 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:44.282 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_47.raw"
13:26:44.866 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:44.886 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:46.895 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:46.896 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_49.raw"
13:26:46.916 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:48.946 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:48.966 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:49.510 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_51.raw"
13:26:50.979 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:51.000 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:52.125 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_53.raw"
13:26:53.009 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:53.029 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:54.740 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_55.raw"
13:26:55.042 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:55.062 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:57.092 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:57.112 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:57.353 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_57.raw"
13:26:59.125 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:26:59.146 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:26:59.970 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_59.raw"
13:27:01.156 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:01.176 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:01.337 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:27:03.185 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:03.206 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:03.789 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_61.raw"
13:27:05.237 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:05.257 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:05.257 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:27:06.805 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_62.raw"
13:27:07.267 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:07.287 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:09.216 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_64.raw"
13:27:09.297 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:09.317 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:11.330 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:11.350 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:11.632 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_66.raw"
13:27:13.382 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:13.403 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:14.045 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_68.raw"
13:27:15.416 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:15.433 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:16.561 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_70.raw"
13:27:17.445 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:17.466 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:19.178 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_72.raw"
13:27:19.480 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:19.500 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:21.591 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:21.611 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:21.852 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_74.raw"
13:27:23.629 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:23.649 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:24.474 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_76.raw"
13:27:25.671 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:25.693 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:27.122 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_78.raw"
13:27:27.727 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:27.747 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:29.737 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_80.raw"
13:27:29.777 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:29.797 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:31.807 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:31.827 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:32.350 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_82.raw"
13:27:33.851 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:33.872 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:34.986 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_84.raw"
13:27:35.896 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:35.916 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:37.611 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_86.raw"
13:27:37.953 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:37.973 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:39.984 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:40.004 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:40.226 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_88.raw"
13:27:42.015 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:42.035 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:42.840 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_90.raw"
13:27:44.046 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:44.066 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:44.106 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:27:46.095 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:46.115 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:46.559 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_92.raw"
13:27:48.029 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:27:48.129 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:48.149 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:49.677 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_93.raw"
13:27:50.160 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:50.180 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:52.090 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_95.raw"
13:27:52.190 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:52.211 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:54.246 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:54.267 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:54.508 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_97.raw"
13:27:56.279 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:56.299 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:56.922 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_99.raw"
13:27:58.311 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:27:58.331 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:27:59.436 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_101.raw"
13:28:00.341 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:00.361 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:02.051 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_103.raw"
13:28:02.393 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:02.413 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:04.423 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:04.443 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:04.664 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_105.raw"
13:28:06.453 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:06.473 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:07.279 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_107.raw"
13:28:08.486 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:08.506 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:09.893 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_109.raw"
13:28:10.537 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:10.557 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:12.510 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_111.raw"
13:28:12.571 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:12.591 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:14.601 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:14.621 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:15.125 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_113.raw"
13:28:16.634 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:16.661 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:17.740 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_115.raw"
13:28:18.486 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:28:18.503 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:28:18.504 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:142] Received request while active: GetTaskQueue
13:28:18.685 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:18.705 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:20.353 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_117.raw"
13:28:20.715 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:20.736 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:22.746 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:22.767 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:22.967 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_119.raw"
13:28:24.776 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:24.796 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:25.580 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_121.raw"
13:28:26.826 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:26.846 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:28:26.846 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:28.856 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:28.876 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:29.298 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_123.raw"
13:28:30.765 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:28:30.885 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:30.906 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:32.320 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_124.raw"
13:28:32.923 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:32.943 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:34.743 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_126.raw"
13:28:34.988 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:35.011 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:37.025 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:37.041 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:37.161 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_128.raw"
13:28:39.051 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:39.072 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:39.575 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_130.raw"
13:28:41.084 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:41.104 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:42.088 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_132.raw"
13:28:43.134 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:43.154 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:44.701 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_134.raw"
13:28:45.163 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:45.184 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:47.194 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:47.214 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:47.315 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_136.raw"
13:28:49.233 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:49.248 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:49.933 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_138.raw"
13:28:51.279 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:51.300 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:52.545 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_140.raw"
13:28:53.315 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:53.336 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:55.171 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_142.raw"
13:28:55.354 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:55.375 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:57.389 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:57.409 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:28:57.791 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_144.raw"
13:28:59.440 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:28:59.461 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:00.405 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_146.raw"
13:29:01.470 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:01.490 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:03.020 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_148.raw"
13:29:03.505 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:03.523 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:05.536 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:05.557 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:05.636 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_150.raw"
13:29:07.587 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:07.608 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:08.251 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_152.raw"
13:29:09.518 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:29:09.618 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:09.639 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:11.647 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:11.668 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:11.969 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_154.raw"
13:29:13.438 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:29:13.679 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:13.699 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:15.086 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_155.raw"
13:29:15.729 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:15.750 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:17.502 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_157.raw"
13:29:17.765 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:17.785 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:19.794 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:19.815 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:19.915 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_159.raw"
13:29:21.826 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:21.846 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:22.328 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_161.raw"
13:29:23.877 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:23.897 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:24.842 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_163.raw"
13:29:25.908 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:25.929 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:27.457 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_165.raw"
13:29:27.939 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:27.959 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:29.969 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:29.989 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:30.070 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_167.raw"
13:29:32.020 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:32.042 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:32.684 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_169.raw"
13:29:34.052 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:34.072 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:35.298 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_171.raw"
13:29:36.083 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:36.103 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:37.912 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_173.raw"
13:29:38.114 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:38.135 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:40.164 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:40.185 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:40.526 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_175.raw"
13:29:42.196 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:42.216 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:43.060 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_177.raw"
13:29:44.226 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:44.246 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:45.675 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_179.raw"
13:29:46.258 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:46.279 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:48.290 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_181.raw"
13:29:48.311 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:48.331 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:50.344 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:50.365 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:50.908 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_183.raw"
13:29:52.276 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:29:52.376 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:52.396 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:54.408 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:54.427 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:54.729 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_185.raw"
13:29:56.219 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:29:56.460 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:56.480 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:29:57.746 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_186.raw"
13:29:58.492 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:29:58.513 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:00.161 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_188.raw"
13:30:00.522 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:00.543 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:02.554 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:02.575 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_190.raw"
13:30:02.576 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:04.606 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:04.626 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:04.987 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_192.raw"
13:30:06.637 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:06.657 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:07.501 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_194.raw"
13:30:08.667 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:08.687 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:10.113 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_196.raw"
13:30:10.696 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:10.716 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:12.728 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_198.raw"
13:30:12.748 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:12.769 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:14.791 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:14.811 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:15.354 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_200.raw"
13:30:16.828 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:16.855 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:17.983 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_202.raw"
13:30:18.872 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:18.892 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:20.617 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_204.raw"
13:30:20.943 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:20.964 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:22.981 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:22.998 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:23.239 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_206.raw"
13:30:25.016 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:25.035 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:25.860 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_208.raw"
13:30:27.069 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:27.090 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:28.505 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_210.raw"
13:30:29.134 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:29.155 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:31.137 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_212.raw"
13:30:31.184 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:31.200 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:33.282 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:33.303 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:33.831 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_214.raw"
13:30:35.147 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:30:35.353 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:35.376 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:37.413 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:37.434 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:37.596 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_216.raw"
13:30:39.132 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:30:39.453 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:39.474 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:40.724 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_217.raw"
13:30:41.492 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:41.512 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:43.149 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_219.raw"
13:30:43.536 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:43.556 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:45.575 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_221.raw"
13:30:45.596 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:45.598 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:47.641 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:47.662 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:48.003 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_223.raw"
13:30:49.699 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:49.716 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:50.549 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_225.raw"
13:30:51.738 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:51.759 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:53.182 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_227.raw"
13:30:53.812 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:53.832 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:55.821 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_229.raw"
13:30:55.861 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:55.882 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:57.903 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:57.924 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:30:58.449 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_231.raw"
13:30:59.943 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:30:59.965 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:01.076 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_233.raw"
13:31:02.000 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:02.021 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:03.691 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_235.raw"
13:31:04.039 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:04.060 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:06.070 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:06.090 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:06.311 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_237.raw"
13:31:08.107 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:08.126 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:08.933 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_239.raw"
13:31:10.167 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:10.187 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:11.555 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_241.raw"
13:31:12.200 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:12.220 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:14.175 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_243.raw"
13:31:14.235 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:14.256 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:16.266 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:16.287 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:16.790 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_245.raw"
13:31:18.117 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:31:18.319 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:18.339 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:20.361 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:20.382 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:20.625 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_247.raw"
13:31:22.076 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:31:22.399 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:22.400 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:23.651 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_248.raw"
13:31:24.440 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:24.460 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:26.069 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_250.raw"
13:31:26.491 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:26.512 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:28.480 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_252.raw"
13:31:28.520 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:28.541 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:30.551 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:30.572 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:30.893 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_254.raw"
13:31:32.582 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:32.603 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:33.407 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_256.raw"
13:31:34.635 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:34.656 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:36.022 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_258.raw"
13:31:36.671 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:36.691 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:38.641 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_260.raw"
13:31:38.701 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:38.722 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:40.732 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:40.753 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:41.254 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_262.raw"
13:31:42.789 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:42.805 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:43.871 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_264.raw"
13:31:44.815 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:44.835 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:46.483 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_266.raw"
13:31:46.845 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:46.865 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:48.875 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:48.896 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:49.096 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_268.raw"
13:31:50.933 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:50.953 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:51.717 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_270.raw"
13:31:52.963 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:52.983 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:54.331 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_272.raw"
13:31:54.995 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:55.015 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:56.945 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_274.raw"
13:31:57.026 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:57.048 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:59.075 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:31:59.096 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:31:59.560 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_276.raw"
13:32:00.806 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:32:01.108 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:01.129 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:03.138 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:03.158 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:03.278 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_278.raw"
13:32:04.725 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:32:05.169 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:05.189 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:06.396 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_279.raw"
13:32:07.225 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:07.247 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:08.813 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_281.raw"
13:32:09.257 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:09.280 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:11.234 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_283.raw"
13:32:11.294 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:11.314 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:13.331 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:13.352 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:13.654 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_285.raw"
13:32:15.396 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:15.418 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:16.182 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_287.raw"
13:32:17.431 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:17.451 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:18.801 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_289.raw"
13:32:19.468 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:19.469 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:21.418 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_291.raw"
13:32:21.502 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:21.522 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:23.552 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:23.553 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:24.035 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_293.raw"
13:32:25.583 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:25.605 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:26.649 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_295.raw"
13:32:27.615 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:27.636 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:29.264 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_297.raw"
13:32:29.646 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:29.668 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:31.697 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:31.717 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:31.878 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_299.raw"
13:32:33.727 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:33.747 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:34.491 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_301.raw"
13:32:35.757 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:35.778 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:37.104 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_303.raw"
13:32:37.788 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:37.809 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:39.720 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_305.raw"
13:32:39.842 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:39.862 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:41.875 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:41.896 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:42.339 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_307.raw"
13:32:43.624 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:32:43.945 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:43.966 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:45.977 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:45.997 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:46.098 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_309.raw"
13:32:47.547 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:32:48.030 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:48.050 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:49.118 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_310.raw"
13:32:50.068 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:50.089 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:51.539 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_312.raw"
13:32:52.101 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:52.122 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:53.950 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_314.raw"
13:32:54.131 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:54.152 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:56.181 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:56.202 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:56.363 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_316.raw"
13:32:58.212 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:32:58.232 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:32:58.875 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_318.raw"
13:33:00.244 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:00.265 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:01.490 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_320.raw"
13:33:02.274 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:02.295 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:04.103 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_322.raw"
13:33:04.326 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:04.347 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:06.358 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:06.378 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:06.720 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_324.raw"
13:33:08.388 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:08.408 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:09.333 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_326.raw"
13:33:10.420 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:10.441 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:11.947 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_328.raw"
13:33:12.469 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:12.490 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:14.500 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:14.520 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:14.560 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_330.raw"
13:33:16.531 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:16.552 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:17.174 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_332.raw"
13:33:18.562 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:18.582 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:19.790 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_334.raw"
13:33:20.617 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:20.638 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:22.407 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_336.raw"
13:33:22.651 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:22.671 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:24.680 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:24.700 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:25.021 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_338.raw"
13:33:26.268 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:33:26.712 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:26.732 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:28.743 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_340.raw"
13:33:28.763 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:28.783 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:30.193 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:33:30.798 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:30.818 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:31.863 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_341.raw"
13:33:32.828 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:32.848 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:34.275 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_343.raw"
13:33:34.858 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:34.879 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:36.687 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_345.raw"
13:33:36.908 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:36.929 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:38.938 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:38.958 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:39.098 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_347.raw"
13:33:40.968 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:40.989 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:41.611 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_349.raw"
13:33:43.000 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:43.021 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:44.226 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_351.raw"
13:33:45.050 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:45.050 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:46.841 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_353.raw"
13:33:47.087 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:47.108 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:49.117 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:49.137 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:49.458 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_355.raw"
13:33:51.147 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:51.167 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:52.073 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_357.raw"
13:33:53.199 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:53.220 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:54.690 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_359.raw"
13:33:55.235 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:55.256 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:57.266 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:57.286 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:57.307 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_361.raw"
13:33:59.297 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:33:59.317 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:33:59.919 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_363.raw"
13:34:01.347 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:01.368 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:02.534 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_365.raw"
13:34:03.378 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:03.398 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:05.147 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_367.raw"
13:34:05.413 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:05.429 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:07.473 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:07.495 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:07.795 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_369.raw"
13:34:09.051 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:34:09.543 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:09.563 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:11.563 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_371.raw"
13:34:11.603 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:11.624 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:13.014 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:34:13.637 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:13.658 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:14.582 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_372.raw"
13:34:15.667 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:15.687 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:16.996 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_374.raw"
13:34:17.730 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:17.751 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:19.419 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_376.raw"
13:34:19.762 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:19.783 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:21.794 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:21.815 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:21.835 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_378.raw"
13:34:23.828 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:23.851 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:24.358 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_380.raw"
13:34:25.893 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:25.921 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:27.024 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_382.raw"
13:34:27.989 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:28.010 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:29.662 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_384.raw"
13:34:30.025 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:30.046 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:32.056 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:32.077 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:32.277 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_386.raw"
13:34:34.107 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:34.127 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:34.891 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_388.raw"
13:34:36.138 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:36.158 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:37.507 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_390.raw"
13:34:38.170 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:38.190 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:40.120 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_392.raw"
13:34:40.200 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:40.222 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:42.253 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:42.274 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:42.736 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_394.raw"
13:34:44.287 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:44.307 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:45.352 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_396.raw"
13:34:46.318 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:46.318 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:47.966 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_398.raw"
13:34:48.347 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:48.368 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:50.400 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:50.421 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:50.581 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_400.raw"
13:34:51.828 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:34:52.432 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:52.433 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:54.301 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_402.raw"
13:34:54.463 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:54.484 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:55.750 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:34:56.493 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:56.514 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:57.418 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_403.raw"
13:34:58.544 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:34:58.564 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:34:59.831 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_405.raw"
13:35:00.577 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:00.599 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:02.246 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_407.raw"
13:35:02.609 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:02.631 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:04.639 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:04.659 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_409.raw"
13:35:04.660 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:06.690 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:06.711 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:07.173 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_411.raw"
13:35:08.721 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:08.741 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:09.787 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_413.raw"
13:35:10.753 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:10.774 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:12.405 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_415.raw"
13:35:12.793 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:12.815 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:14.848 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:14.869 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:15.029 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_417.raw"
13:35:16.879 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:16.899 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:17.642 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_419.raw"
13:35:18.909 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:18.930 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:20.256 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_421.raw"
13:35:20.940 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:20.961 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:22.871 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_423.raw"
13:35:22.991 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:23.012 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:25.024 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:25.045 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:25.486 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_425.raw"
13:35:27.056 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:27.077 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:28.103 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_427.raw"
13:35:29.088 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:29.109 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:30.718 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_429.raw"
13:35:31.141 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:31.161 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:33.170 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:33.191 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:33.331 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_431.raw"
13:35:34.579 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:35:35.202 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:35.224 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:37.051 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_433.raw"
13:35:37.232 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:37.253 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:38.499 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:35:39.282 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:39.302 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:40.066 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_434.raw"
13:35:41.312 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:41.332 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:42.477 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_436.raw"
13:35:43.341 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:43.362 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:44.889 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_438.raw"
13:35:45.373 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:45.394 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:47.303 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_440.raw"
13:35:47.426 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:47.446 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:49.455 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:49.476 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:49.817 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_442.raw"
13:35:51.486 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:51.507 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:52.434 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_444.raw"
13:35:53.519 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:53.540 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:55.047 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_446.raw"
13:35:55.571 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:55.592 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:57.602 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:57.623 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:35:57.662 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_448.raw"
13:35:59.632 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:35:59.653 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:00.274 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_450.raw"
13:36:01.664 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:01.684 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:02.890 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_452.raw"
13:36:03.714 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:03.734 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:05.504 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_454.raw"
13:36:05.748 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:05.770 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:07.779 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:07.800 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:08.120 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_456.raw"
13:36:09.809 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:09.830 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:10.734 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_458.raw"
13:36:11.862 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:11.883 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:13.351 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_460.raw"
13:36:13.895 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:13.916 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:15.927 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:15.948 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:15.968 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_462.raw"
13:36:17.214 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:36:17.957 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:17.978 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:19.686 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_464.raw"
13:36:20.008 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:20.028 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:21.134 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:36:22.038 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:22.058 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:22.801 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_465.raw"
13:36:24.071 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:24.093 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:25.218 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_467.raw"
13:36:26.104 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:26.125 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:27.632 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_469.raw"
13:36:28.155 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:28.176 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:30.044 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_471.raw"
13:36:30.186 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:30.206 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:32.216 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:32.237 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:32.557 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_473.raw"
13:36:34.246 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:34.267 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:35.170 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_475.raw"
13:36:36.296 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:36.317 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:37.783 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_477.raw"
13:36:38.327 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:38.348 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:40.358 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:40.380 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:40.399 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_479.raw"
13:36:42.389 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:42.410 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:43.012 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_481.raw"
13:36:44.439 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:44.460 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:45.625 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_483.raw"
13:36:46.470 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:46.490 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:48.238 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_485.raw"
13:36:48.499 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:48.520 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:50.529 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:50.550 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:50.851 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_487.raw"
13:36:52.578 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:52.600 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:53.462 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_489.raw"
13:36:54.609 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:54.630 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:56.078 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_491.raw"
13:36:56.641 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:56.662 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:58.671 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:36:58.691 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_493.raw"
13:36:58.692 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:36:59.938 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:37:00.722 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:00.723 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:02.410 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_495.raw"
13:37:02.754 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:02.774 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:03.860 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
13:37:04.783 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:04.804 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:05.426 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_496.raw"
13:37:06.815 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:06.836 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:07.840 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_498.raw"
13:37:08.865 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:08.886 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:10.253 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_500.raw"
13:37:10.896 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:10.918 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:12.666 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_502.raw"
13:37:12.927 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:12.949 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:14.960 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:14.981 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:15.181 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_504.raw"
13:37:17.010 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:17.032 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:17.794 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_506.raw"
13:37:19.042 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:19.063 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:20.408 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_508.raw"
13:37:21.073 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:21.094 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:23.023 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_510.raw"
13:37:23.103 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:23.125 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:25.156 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:25.178 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:25.639 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_512.raw"
13:37:27.188 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:27.212 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:28.253 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_514.raw"
13:37:29.219 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:29.240 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:30.866 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_516.raw"
13:37:31.248 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:31.269 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:33.299 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:33.320 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:33.480 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_518.raw"
13:37:35.329 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:35.351 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:36.093 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_520.raw"
13:37:37.360 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:37.382 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:38.706 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_522.raw"
13:37:39.391 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:39.412 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:41.322 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:43] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-24-56_15.0 x 15.0 Inspection/photos/mocked_image_524.raw"
13:37:41.444 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
13:37:41.464 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:42.568 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
13:37:42.589 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished)
13:37:42.589 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true })
13:37:42.609 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
13:37:42.609 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
13:37:42.610 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110595226688 0.07626728330777899,0.9084134113065848 0.07626728330777899,0.9084134113065848 0.07627110735585807,0.9084110595226688 0.07627110735585807,0.9084110595226688 0.07626728330777899)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4 m^1 s^-1, lane_direction: None, fixed_heading: true }))
13:37:42.632 WARN  [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now
13:37:42.648 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
13:37:42.648 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Camera trigger responder stopped: RecvError
13:37:42.649 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)
13:37:42.649 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) }))]
13:37:42.649 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) }))]
13:37:42.649 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-22_13-24-56_15.0 x 15.0 Inspection")
13:37:42.649 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
13:37:42.649 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: 14a89ff3-0625-4d1c-a5cf-d0bc354a015c)"), mode: None }
13:37:42.650 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-37-42_waiting, hold position/2025-08-22_13-37-42_waiting, hold position_rust.log"
13:37:42.650 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-22_13-37-42_waiting, hold position
13:37:42.650 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position'
13:37:42.680 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
13:37:42.680 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.000087800512448 m^1. Interpolating depth and velocity.
13:37:42.680 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 7.5996224375753245 m^1, east: -6.956773706835617 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 } }]
13:37:42.680 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) })
13:37:42.680 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 7.5996224375753245 m^1, east: -6.956773706835617 m^1, down: 2.999911274296398 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
13:37:42.680 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)
13:37:42.689 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) }))
13:37:42.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'raw_to_orthophoto' stopped
13:37:43.025 INFO  [robot_code/processing/live_stitching/src/live_stitch.rs:102] No more photos to process, stopping live stitching
13:37:43.035 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'live_stitching' stopped
13:37:46.690 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.004050384231566 m^1. Interpolating depth and velocity.
13:37:50.693 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.004082138648977 m^1. Interpolating depth and velocity.
13:37:54.716 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0040639822260893 m^1. Interpolating depth and velocity.
13:37:57.061 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.19633701681590665, Enable control depth: 0.2, Depth control enabled: true
13:37:57.061 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
13:37:57.876 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 7.5996224375753245 m^1, east: -6.956773706835617 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) } }]
13:37:57.876 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) })
13:37:57.876 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)
13:37:57.896 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) }))
13:37:57.936 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)
13:37:57.936 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) })
13:37:57.956 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) }))
13:37:57.957 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) })), Started)
13:37:57.977 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 7.5969332464034025 m^1, east: -6.956765672192117 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 } }]
13:37:57.977 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) })), Preparing)
13:37:57.977 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) }))
13:37:57.977 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) })
13:37:57.997 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) }))
13:37:58.037 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 7.5969332464034025 m^1, east: -6.956765672192117 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) } }]
13:37:58.037 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:37:58.037 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) })
13:37:58.057 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:37:58.742 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9999763895944285 m^1. Interpolating depth and velocity.
13:38:00.070 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)
13:38:00.090 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:02.101 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:02.121 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) }))
13:38:02.764 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0008890854409342 m^1. Interpolating depth and velocity.
13:38:04.133 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)
13:38:04.153 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) }))
13:38:06.185 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:06.205 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:06.789 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0023573700671955 m^1. Interpolating depth and velocity.
13:38:08.217 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)
13:38:08.237 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) }))
13:38:10.250 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:10.270 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:10.812 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.004507531651309 m^1. Interpolating depth and velocity.
13:38:12.281 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:12.301 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:14.331 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:14.352 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:14.834 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0068123078827655 m^1. Interpolating depth and velocity.
13:38:16.362 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)
13:38:16.362 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:18.394 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)
13:38:18.414 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) }))
13:38:18.857 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.008895690821081 m^1. Interpolating depth and velocity.
13:38:20.427 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)
13:38:20.447 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) }))
13:38:22.480 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)
13:38:22.500 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) }))
13:38:22.882 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.010559138324684 m^1. Interpolating depth and velocity.
13:38:24.513 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:24.533 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:26.546 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:26.566 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:26.908 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0118105834407354 m^1. Interpolating depth and velocity.
13:38:28.579 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:28.598 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:30.631 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:30.631 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:30.932 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0127150838234664 m^1. Interpolating depth and velocity.
13:38:32.663 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:32.663 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:34.696 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)
13:38:34.715 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:34.956 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0133524038257864 m^1. Interpolating depth and velocity.
13:38:36.728 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:36.749 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:38.781 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:38.801 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:38.982 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0137941197628795 m^1. Interpolating depth and velocity.
13:38:40.813 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)
13:38:40.834 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) }))
13:38:42.845 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:42.865 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:43.007 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.014048581146235 m^1. Interpolating depth and velocity.
13:38:44.878 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)
13:38:44.897 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:46.931 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:46.951 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:47.031 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140550237701582 m^1. Interpolating depth and velocity.
13:38:48.964 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:48.984 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) }))
13:38:51.017 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:51.032 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) }))
13:38:51.033 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140555661245534 m^1. Interpolating depth and velocity.
13:38:53.094 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)
13:38:53.114 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) }))
13:38:55.044 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140558806503508 m^1. Interpolating depth and velocity.
13:38:55.145 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:55.165 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:57.178 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)
13:38:57.178 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:38:59.070 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140560565133265 m^1. Interpolating depth and velocity.
13:38:59.211 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:38:59.231 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:01.244 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:39:01.264 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:03.095 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140561539126898 m^1. Interpolating depth and velocity.
13:39:03.296 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:39:03.317 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:05.329 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:39:05.349 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:07.121 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562141310392 m^1. Interpolating depth and velocity.
13:39:07.362 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)
13:39:07.382 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) }))
13:39:09.395 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)
13:39:09.415 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) }))
13:39:11.146 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562343141255 m^1. Interpolating depth and velocity.
13:39:11.448 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:39:11.468 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:13.481 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)
13:39:13.502 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:15.171 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562618547477 m^1. Interpolating depth and velocity.
13:39:15.513 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:39:15.533 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:17.546 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:39:17.566 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:19.195 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562713151846 m^1. Interpolating depth and velocity.
13:39:19.598 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)
13:39:19.618 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) }))
13:39:21.630 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:39:21.650 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:23.220 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562779919344 m^1. Interpolating depth and velocity.
13:39:23.662 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)
13:39:23.682 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) }))
13:39:25.695 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:39:25.716 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) }))
13:39:27.245 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562881326716 m^1. Interpolating depth and velocity.
13:39:27.748 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:39:27.768 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:29.780 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:39:29.801 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:31.270 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562811630875 m^1. Interpolating depth and velocity.
13:39:31.813 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)
13:39:31.833 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) }))
13:39:33.847 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)
13:39:33.867 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) }))
13:39:35.295 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562890406626 m^1. Interpolating depth and velocity.
13:39:35.899 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)
13:39:35.919 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) }))
13:39:37.931 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:39:37.951 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:39.320 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562822352646 m^1. Interpolating depth and velocity.
13:39:39.963 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)
13:39:39.983 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:41.997 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:39:42.017 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:43.345 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562796545893 m^1. Interpolating depth and velocity.
13:39:44.049 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)
13:39:44.069 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) }))
13:39:46.082 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)
13:39:46.102 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) }))
13:39:47.370 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562891563878 m^1. Interpolating depth and velocity.
13:39:48.113 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)
13:39:48.133 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:50.144 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:50.144 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:39:51.392 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562866805176 m^1. Interpolating depth and velocity.
13:39:52.195 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:39:52.215 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:54.227 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)
13:39:54.247 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:55.413 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562917765505 m^1. Interpolating depth and velocity.
13:39:56.258 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)
13:39:56.278 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) }))
13:39:58.291 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:39:58.311 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:39:59.437 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562855626172 m^1. Interpolating depth and velocity.
13:40:00.347 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:00.365 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) }))
13:40:02.378 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)
13:40:02.397 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:03.463 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562843931233 m^1. Interpolating depth and velocity.
13:40:04.421 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:04.435 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:06.454 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:06.474 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:07.500 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.014056286338512 m^1. Interpolating depth and velocity.
13:40:08.506 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:08.526 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:10.538 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:10.558 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:11.535 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.01405629265387 m^1. Interpolating depth and velocity.
13:40:12.587 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)
13:40:12.589 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:14.670 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:14.689 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) }))
13:40:15.540 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562855209678 m^1. Interpolating depth and velocity.
13:40:16.726 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:16.745 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:18.756 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:18.776 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:19.540 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562864089677 m^1. Interpolating depth and velocity.
13:40:20.789 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:20.809 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:22.820 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:22.840 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:23.564 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562850533072 m^1. Interpolating depth and velocity.
13:40:24.871 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:24.891 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:26.903 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) })), Executing)
13:40:26.923 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:27.587 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562864164204 m^1. Interpolating depth and velocity.
13:40:28.936 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)
13:40:28.956 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) }))
13:40:30.969 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)
13:40:30.989 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) }))
13:40:31.613 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562873166914 m^1. Interpolating depth and velocity.
13:40:33.020 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)
13:40:33.040 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) }))
13:40:35.053 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:35.073 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:35.636 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562916439881 m^1. Interpolating depth and velocity.
13:40:37.084 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:37.104 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:39.116 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)
13:40:39.136 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) }))
13:40:39.670 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562867603524 m^1. Interpolating depth and velocity.
13:40:41.178 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)
13:40:41.198 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) }))
13:40:43.210 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:43.231 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:43.693 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562861702538 m^1. Interpolating depth and velocity.
13:40:45.243 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:45.263 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) }))
13:40:47.275 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)
13:40:47.295 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) }))
13:40:47.717 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562935233817 m^1. Interpolating depth and velocity.
13:40:49.328 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:49.346 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) }))
13:40:51.356 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:51.377 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:51.738 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562917024 m^1. Interpolating depth and velocity.
13:40:53.388 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:53.408 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:55.419 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)
13:40:55.440 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:55.762 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562952617937 m^1. Interpolating depth and velocity.
13:40:57.472 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)
13:40:57.492 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) }))
13:40:59.503 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:40:59.523 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:40:59.785 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562956011596 m^1. Interpolating depth and velocity.
13:41:01.535 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)
13:41:01.556 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:41:01.664 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:41:01.676 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:142] Received request while active: GetTaskQueue
13:41:01.676 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:41:03.568 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:41:03.588 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:41:03.810 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562953153998 m^1. Interpolating depth and velocity.
13:41:05.620 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)
13:41:05.640 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:41:07.652 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)
13:41:07.672 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) }))
13:41:07.833 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.014056295672951 m^1. Interpolating depth and velocity.
13:41:09.683 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)
13:41:09.703 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) }))
13:41:11.715 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)
13:41:11.735 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) }))
13:41:11.856 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562958220007 m^1. Interpolating depth and velocity.
13:41:13.765 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:41:13.785 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:41:15.796 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:41:15.816 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) }))
13:41:15.877 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.014056295571189 m^1. Interpolating depth and velocity.
13:41:17.827 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)
13:41:17.848 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) }))
13:41:19.858 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)
13:41:19.878 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:41:19.899 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562956464558 m^1. Interpolating depth and velocity.
13:41:21.909 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)
13:41:21.929 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) }))
13:41:23.921 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.014056295836264 m^1. Interpolating depth and velocity.
13:41:23.940 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)
13:41:23.960 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) }))
13:41:25.973 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:41:25.994 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:41:27.945 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562953525993 m^1. Interpolating depth and velocity.
13:41:28.005 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:41:28.025 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:41:30.055 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)
13:41:30.055 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) }))
13:41:31.965 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562955246928 m^1. Interpolating depth and velocity.
13:41:32.086 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:41:32.106 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:41:34.117 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)
13:41:34.137 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) }))
13:41:35.987 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562954771095 m^1. Interpolating depth and velocity.
13:41:36.148 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)
13:41:36.168 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) }))
13:41:38.200 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:41:38.200 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) }))
13:41:40.010 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562955911694 m^1. Interpolating depth and velocity.
13:41:40.232 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)
13:41:40.252 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) }))
13:41:42.264 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)
13:41:42.284 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) }))
13:41:44.033 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562955360153 m^1. Interpolating depth and velocity.
13:41:44.294 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)
13:41:44.314 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) }))
13:41:46.346 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)
13:41:46.366 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) }))
13:41:48.056 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562954799774 m^1. Interpolating depth and velocity.
13:41:48.378 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)
13:41:48.398 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) }))
13:41:50.409 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)
13:41:50.430 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:41:52.078 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562956041599 m^1. Interpolating depth and velocity.
13:41:52.440 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)
13:41:52.460 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) }))
13:41:54.492 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:41:54.513 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:41:56.104 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562955548829 m^1. Interpolating depth and velocity.
13:41:56.525 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)
13:41:56.545 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:41:58.557 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:41:58.578 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) }))
13:42:00.128 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562955090129 m^1. Interpolating depth and velocity.
13:42:00.589 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:42:00.610 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:02.641 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)
13:42:02.662 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:04.151 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.014056295437996 m^1. Interpolating depth and velocity.
13:42:04.674 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:42:04.694 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:06.705 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:42:06.725 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:08.174 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.01405629556937 m^1. Interpolating depth and velocity.
13:42:08.738 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)
13:42:08.758 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) }))
13:42:10.791 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:42:10.812 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:12.200 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562953046368 m^1. Interpolating depth and velocity.
13:42:12.824 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:42:12.844 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:14.854 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)
13:42:14.875 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) }))
13:42:16.222 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562952591319 m^1. Interpolating depth and velocity.
13:42:16.886 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)
13:42:16.906 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:18.937 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:42:18.958 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) }))
13:42:20.247 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562953839627 m^1. Interpolating depth and velocity.
13:42:21.006 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:42:21.012 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:23.070 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)
13:42:23.092 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:24.257 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.01405629586659 m^1. Interpolating depth and velocity.
13:42:25.107 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)
13:42:25.131 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:27.169 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)
13:42:27.189 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:28.275 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562957524883 m^1. Interpolating depth and velocity.
13:42:29.200 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:42:29.220 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:31.232 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)
13:42:31.252 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) }))
13:42:32.298 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562956860375 m^1. Interpolating depth and velocity.
13:42:33.265 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)
13:42:33.284 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) }))
13:42:35.317 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)
13:42:35.337 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) }))
13:42:36.322 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562956383539 m^1. Interpolating depth and velocity.
13:42:37.349 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:42:37.369 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:39.381 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)
13:42:39.402 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) }))
13:42:40.348 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562957626038 m^1. Interpolating depth and velocity.
13:42:41.414 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)
13:42:41.434 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) }))
13:42:43.465 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:42:43.486 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) }))
13:42:44.371 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562950793477 m^1. Interpolating depth and velocity.
13:42:45.497 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:42:45.517 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:47.528 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:42:47.547 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:48.392 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562958598052 m^1. Interpolating depth and velocity.
13:42:49.559 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)
13:42:49.579 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:51.618 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:42:51.638 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:52.422 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562953943606 m^1. Interpolating depth and velocity.
13:42:53.650 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:42:53.670 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
13:42:55.681 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)
13:42:55.701 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) }))
13:42:56.446 WARN  [robot_code/robot_core/path_planning/src/lib.rs:171] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0140562957310815 m^1. Interpolating depth and velocity.
13:42:57.716 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
13:42:57.737 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) }))
13:42:59.767 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)
13:42:59.788 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) }))
13:43:00.109 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) })), Finished)
13:43:00.109 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) })
13:43:00.129 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) }))
13:43:00.130 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')") }
13:43:00.130 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:370] Waiting hold task finished before new task was started, disengaging now
13:43:00.130 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:154] Disengaging TaskExecutor
13:43:00.130 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
13:43:00.130 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
13:43:00.130 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-22_13-37-42_waiting, hold position")
13:43:00.150 WARN  [robot_code/robot_core/task_scheduler/src/executor/error.rs:72] Executor in ErrorMode with error 'Path planner is still active'
13:43:00.170 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:528] Cancelling goals: []
13:43:00.170 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:76] Executor in ErrorMode, but deactivated successfully
13:43:00.170 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("IdleMode") }
13:43:00.170 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:42] Path planner stopped successfully
13:43:11.577 INFO  [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator()
13:43:11.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
13:43:11.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
13:43:11.943 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
13:43:11.986 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
13:43:12.158 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
13:43:13.558 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping...
13:43:13.558 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped
13:43:13.558 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'state_estimator'
13:43:13.558 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'control'
13:43:13.558 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'control'
13:43:13.558 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'simulator'
13:43:13.558 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'simulator'
13:43:13.558 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'path_planner'
13:43:28.646 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
13:43:28.646 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-22 13:43:28.646133287 +02:00
13:43:28.646 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
13:43:28.646 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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
13:43:28.646 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
13:43:28.646 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_13-43-28_simulated_scout.lobsterlog")
13:43:28.652 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
13:43:28.784 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], "magnetometer_location": [1.06914, 0.00188, -0.20086], "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], "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], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "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], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048]})
13:43:28.784 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
13:43:28.785 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: 4.0, 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] }
13:43:28.811 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], "magnetometer_location": [1.06914, 0.00188, -0.20086], "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], "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], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "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], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048]})
13:43:28.811 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
13:43:29.260 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], "magnetometer_location": [1.06914, 0.00188, -0.20086], "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], "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], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "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], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048]})
13:43:29.260 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
13:43:29.260 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
13:43:29.261 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
13:43:29.261 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
13:43:29.261 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
13:43:29.261 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
13:43:29.262 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
13:43:29.262 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
13:43:29.262 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
13:43:29.262 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
13:43:29.262 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
13:43:29.262 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
13:43:29.262 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], "magnetometer_location": [1.06914, 0.00188, -0.20086], "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], "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], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "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], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048]})
13:43:29.262 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
13:43:29.262 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
13:43:29.262 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
13:43:29.262 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
13:43:29.263 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
13:43:29.263 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 }
13:43:29.263 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
13:43:29.263 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 134970
13:43:29.263 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
13:43:29.263 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
13:43:29.263 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
13:43:29.263 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
13:43:29.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
13:43:29.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
13:43:29.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
13:43:29.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
13:43:29.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
13:43:29.265 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
13:43:29.265 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
13:43:29.265 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
13:43:29.265 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
13:43:29.265 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
13:43:29.265 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
13:43:29.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
13:43:29.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
13:43:29.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
13:43:29.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
13:43:29.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
13:43:29.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
13:43:29.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
13:43:29.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
13:43:29.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
13:43:29.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
13:43:29.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
13:43:29.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
13:43:29.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
13:43:29.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
13:43:29.268 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], "magnetometer_location": [1.06914, 0.00188, -0.20086], "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], "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], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "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], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048]})
13:43:29.268 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
13:43:29.268 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
13:43:29.268 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 }
13:43:29.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
13:43:29.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 134999
13:43:29.268 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
13:43:29.268 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
13:43:29.268 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
13:43:29.268 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 }
13:43:29.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
13:43:29.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 135000
13:43:29.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
13:43:29.399 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
13:43:29.399 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
13:43:29.399 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 }
13:43:29.400 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
13:43:29.400 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
13:43:29.400 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 135002
13:43:29.400 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
13:43:29.400 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
13:43:29.400 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 }
13:43:29.400 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
13:43:29.400 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 135004
13:43:29.400 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
13:43:29.401 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
13:43:29.401 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 }
13:43:29.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
13:43:29.402 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
13:43:29.402 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
13:43:29.402 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
13:43:29.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 135042
13:43:29.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
13:43:29.402 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
13:43:29.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
13:43:29.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
13:43:29.402 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
13:43:29.402 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 }
13:43:29.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
13:43:29.402 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
13:43:29.402 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 }
13:43:29.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
13:43:29.402 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
13:43:29.402 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 }
13:43:29.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 135047
13:43:29.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
13:43:29.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 135048
13:43:29.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 135049
13:43:29.420 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:43:29.420 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
13:43:29.422 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
13:43:29.422 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
13:43:29.423 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
13:43:29.423 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 }
13:43:29.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
13:43:29.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 135051
13:43:29.423 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
13:43:29.423 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:66] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
13:43:29.423 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
13:43:29.423 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
13:43:29.479 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:43:29.480 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:43:29.480 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:43:29.487 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:43:29.500 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:43:29.500 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:43:29.557 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:43:29.557 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {}
13:43:29.557 INFO  [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings
13:43:29.561 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:43:29.561 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:48:08.893 INFO  [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator()
13:48:08.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
13:48:08.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
13:48:09.040 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
14:01:11.318 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
14:01:11.318 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-22 14:01:11.318573765 +02:00
14:01:11.318 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
14:01:11.318 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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
14:01:11.318 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
14:01:11.318 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_14-01-11_simulated_scout.lobsterlog")
14:01:11.339 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
14:01:11.483 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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "rear_left_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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
14:01:11.483 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
14:01:11.484 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] }
14:01:11.511 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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "rear_left_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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
14:01:11.511 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
14:01:11.967 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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "rear_left_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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
14:01:11.967 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
14:01:11.967 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
14:01:11.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
14:01:11.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
14:01:11.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
14:01:11.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
14:01:11.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
14:01:11.969 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
14:01:11.969 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
14:01:11.969 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
14:01:11.969 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
14:01:11.969 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
14:01:11.969 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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "rear_left_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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
14:01:11.969 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
14:01:11.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
14:01:11.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
14:01:11.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
14:01:11.970 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
14:01:11.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
14:01:11.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
14:01:11.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 146196
14:01:11.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
14:01:11.970 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
14:01:11.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
14:01:11.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
14:01:11.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
14:01:11.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
14:01:11.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
14:01:11.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
14:01:11.972 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
14:01:11.972 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
14:01:11.972 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
14:01:11.972 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
14:01:11.972 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
14:01:11.973 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
14:01:11.973 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
14:01:11.973 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
14:01:11.973 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
14:01:11.973 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
14:01:11.974 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
14:01:11.974 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
14:01:11.974 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
14:01:11.974 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
14:01:11.974 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
14:01:11.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
14:01:11.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
14:01:11.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
14:01:11.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
14:01:11.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
14:01:11.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
14:01:11.976 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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "rear_left_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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
14:01:11.976 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
14:01:11.976 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
14:01:11.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
14:01:11.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
14:01:11.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 146225
14:01:11.976 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
14:01:11.976 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
14:01:11.976 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
14:01:11.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
14:01:11.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
14:01:11.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 146226
14:01:12.006 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
14:01:12.109 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
14:01:12.109 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
14:01:12.109 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 }
14:01:12.109 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
14:01:12.109 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
14:01:12.109 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 146229
14:01:12.109 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
14:01:12.109 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
14:01:12.110 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 }
14:01:12.110 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
14:01:12.110 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 146231
14:01:12.110 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
14:01:12.111 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
14:01:12.111 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 }
14:01:12.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
14:01:12.111 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
14:01:12.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 146269
14:01:12.111 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
14:01:12.111 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
14:01:12.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
14:01:12.111 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
14:01:12.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
14:01:12.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
14:01:12.111 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
14:01:12.112 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 }
14:01:12.112 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
14:01:12.112 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
14:01:12.112 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 }
14:01:12.112 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 146274
14:01:12.112 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
14:01:12.112 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
14:01:12.112 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 }
14:01:12.112 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 146275
14:01:12.112 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
14:01:12.112 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 146276
14:01:12.129 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
14:01:12.129 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
14:01:12.132 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
14:01:12.132 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
14:01:12.132 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
14:01:12.132 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 }
14:01:12.133 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
14:01:12.133 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 146278
14:01:12.133 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
14:01:12.133 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
14:01:12.133 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
14:01:12.133 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces
14:01:12.133 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
14:01:12.177 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
14:01:12.190 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
14:01:12.190 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
14:01:12.275 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
14:01:12.290 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
14:01:12.291 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
14:01:16.727 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
14:01:16.745 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
14:01:16.745 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
14:02:00.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
14:02:00.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
14:02:00.664 INFO  [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator()
14:02:00.691 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
14:02:01.126 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
14:02:01.191 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
14:02:02.644 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping...
14:02:02.644 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped
14:02:02.645 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'state_estimator'
14:02:02.645 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'control'
14:02:02.645 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'control'
14:02:02.645 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'simulator'
14:02:02.645 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'simulator'
14:02:02.645 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'path_planner'
14:02:11.139 WARN  [robot_code/robot_core/launch/src/lib.rs:466] Not stopped after 10 seconds, aborting program
14:02:14.279 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
14:02:14.279 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-22 14:02:14.279845526 +02:00
14:02:14.279 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
14:02:14.279 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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
14:02:14.279 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
14:02:14.280 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_14-02-14_simulated_scout.lobsterlog")
14:02:14.283 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
14:02:14.455 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "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], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
14:02:14.456 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
14:02:14.457 INFO  [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: false, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
14:02:14.492 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "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], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
14:02:14.492 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
14:02:15.113 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "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], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
14:02:15.113 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
14:02:15.113 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
14:02:15.113 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
14:02:15.113 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
14:02:15.114 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
14:02:15.114 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
14:02:15.114 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
14:02:15.114 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
14:02:15.114 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
14:02:15.114 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
14:02:15.114 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
14:02:15.114 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
14:02:15.114 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "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], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
14:02:15.114 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
14:02:15.114 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
14:02:15.115 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
14:02:15.115 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
14:02:15.115 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
14:02:15.115 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 }
14:02:15.115 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
14:02:15.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 146508
14:02:15.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
14:02:15.116 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
14:02:15.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
14:02:15.117 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
14:02:15.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
14:02:15.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
14:02:15.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
14:02:15.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
14:02:15.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
14:02:15.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
14:02:15.121 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
14:02:15.121 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
14:02:15.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
14:02:15.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
14:02:15.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
14:02:15.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
14:02:15.123 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
14:02:15.123 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
14:02:15.124 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
14:02:15.124 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
14:02:15.124 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
14:02:15.125 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
14:02:15.125 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
14:02:15.125 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
14:02:15.126 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
14:02:15.126 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
14:02:15.126 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
14:02:15.126 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
14:02:15.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
14:02:15.127 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "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], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
14:02:15.127 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
14:02:15.127 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
14:02:15.127 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 }
14:02:15.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
14:02:15.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 146537
14:02:15.127 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
14:02:15.127 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
14:02:15.127 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
14:02:15.127 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 }
14:02:15.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
14:02:15.128 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 146538
14:02:15.158 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
14:02:15.319 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
14:02:15.319 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
14:02:15.320 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 }
14:02:15.320 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
14:02:15.320 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
14:02:15.320 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 146540
14:02:15.320 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
14:02:15.321 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
14:02:15.321 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 }
14:02:15.321 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
14:02:15.321 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 146542
14:02:15.321 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
14:02:15.323 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
14:02:15.323 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 }
14:02:15.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
14:02:15.323 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
14:02:15.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 146580
14:02:15.323 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
14:02:15.323 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
14:02:15.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
14:02:15.324 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
14:02:15.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
14:02:15.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
14:02:15.325 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
14:02:15.325 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 }
14:02:15.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
14:02:15.325 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
14:02:15.325 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 }
14:02:15.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
14:02:15.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 146585
14:02:15.325 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
14:02:15.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 146586
14:02:15.325 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 }
14:02:15.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
14:02:15.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 146587
14:02:15.340 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
14:02:15.340 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
14:02:15.343 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
14:02:15.343 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
14:02:15.344 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
14:02:15.344 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 }
14:02:15.344 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
14:02:15.344 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 146589
14:02:15.344 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
14:02:15.344 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
14:02:15.344 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
14:02:15.344 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces
14:02:15.344 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: ["192.168.0.255:10899"]
14:02:15.376 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
14:02:15.380 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
14:02:15.380 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
14:02:15.412 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
14:02:15.421 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
14:02:15.421 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
14:02:15.460 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
14:02:15.461 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
14:02:15.461 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
14:03:06.234 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: 'areaInspection')
14:03:06.234 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
14:03:11.545 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
14:03:11.545 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
14:03:11.565 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a Upright task 'Upright task'
14:03:11.606 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
14:03:11.606 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: f6231053-1874-4f97-b52f-f4b8533d846c, 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 }) })]
14:03:11.606 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: f6231053-1874-4f97-b52f-f4b8533d846c, 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 }) })]
14:03:11.616 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: f6231053-1874-4f97-b52f-f4b8533d846c, start_time: Some(55.98 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)
14:03:11.616 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
14:03:11.616 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Upright, name: 'Upright task', id: 8de0f367-d106-48b5-9d30-ab9b63dc8c6f)"), mode: None }
14:03:11.616 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_14-03-11_Upright task/2025-08-22_14-03-11_Upright task_rust.log"
14:03:11.616 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-22_14-03-11_Upright task
14:03:11.636 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849564451290316, Enable control depth: 0.2, Depth control enabled: true
14:03:11.636 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
14:03:11.636 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: f6231053-1874-4f97-b52f-f4b8533d846c, start_time: Some(55.98 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)
14:03:11.636 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
14:03:11.637 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: 0.09849564451290316 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
14:03:11.646 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: f6231053-1874-4f97-b52f-f4b8533d846c, start_time: Some(55.98 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 }) })
14:03:11.646 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SurveyArea task 'areaInspection'
14:03:11.646 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
14:03:11.646 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
14:03:11.646 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
14:03:11.646 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
14:03:11.646 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'areaInspection', id: 90987b55-5bb5-42ac-bbde-d875257ac7c7)"), mode: None }
14:03:11.646 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-22_14-03-11_Upright task")
14:03:11.647 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_14-03-11_areaInspection/2025-08-22_14-03-11_areaInspection_rust.log"
14:03:11.647 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-22_14-03-11_areaInspection
14:03:11.686 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: -6.806975048058355 m^1, east: 6.656984993988436 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: -6.806975048058355 m^1, east: 6.656984993988436 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 0.5 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
14:03:11.686 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing)
14:03:11.686 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
14:03:11.706 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:03:12.510 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20462550245388478, Enable control depth: 0.2, Depth control enabled: false
14:03:12.510 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller
14:03:14.057 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
14:04:05.335 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -6.806975048058355 m^1, east: 6.656984993988436 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 8.485984940058863 m^1, east: 6.656984993988436 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 8.485984969861185 m^1, east: 5.796849299434714 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -6.806975048058355 m^1, east: 5.796849299434714 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -6.806975018256033 m^1, east: 4.9367136048809925 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 8.485984999663508 m^1, east: 4.9367136048809925 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 8.48598502946583 m^1, east: 4.076577910327271 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -6.80697498845371 m^1, east: 4.076577910327271 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -6.806974958651388 m^1, east: 3.216442215773549 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 8.485985059268152 m^1, east: 3.216442215773549 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 8.485985059268152 m^1, east: 2.3563065212198273 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -6.8069749288490655 m^1, east: 2.3563065212198273 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -6.806974899046743 m^1, east: 1.4961708266661056 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 8.485985089070475 m^1, east: 1.4961708266661056 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 8.485985118872797 m^1, east: 0.6360351321123839 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -6.806974899046743 m^1, east: 0.6360351321123839 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -6.806974869244421 m^1, east: -0.2241005624413377 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 8.48598514867512 m^1, east: -0.2241005624413377 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 8.485985178477442 m^1, east: -1.0842362569950592 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -6.806974839442098 m^1, east: -1.0842362569950592 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -6.806974809639776 m^1, east: -1.944371951548781 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 8.485985208279764 m^1, east: -1.944371951548781 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 8.485985208279764 m^1, east: -2.8045076461025027 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -6.806974779837454 m^1, east: -2.8045076461025027 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -6.806974750035131 m^1, east: -3.6646433406562244 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 8.485985238082087 m^1, east: -3.6646433406562244 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 8.48598526788441 m^1, east: -4.524779035209946 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -6.806974750035131 m^1, east: -4.524779035209946 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -6.806974720232809 m^1, east: -5.3849147297636675 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 8.485985297686732 m^1, east: -5.3849147297636675 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 8.485985327489054 m^1, east: -6.245050424317389 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -6.806974690430486 m^1, east: -6.245050424317389 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -6.806974660628164 m^1, east: -7.105186118871111 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 8.485985357291376 m^1, east: -7.105186118871111 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }]
14:04:05.335 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:05.335 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
14:04:05.355 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:05.375 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_14-03-11_areaInspection/photos/mocked_image_0.raw"
14:04:05.375 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(Overheating)
14:04:05.395 WARN  [robot_code/peripherals/payload/src/payload.rs:58] Payload in temporary error: Failed to trigger camera: LightTemperatureError(Overheating)
14:04:05.395 WARN  [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now
14:04:05.415 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:41] Camera trigger responder stopped: RecvError
14:04:07.367 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:07.386 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:09.398 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:09.418 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:11.449 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:11.470 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:13.461 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
14:04:13.481 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:13.501 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:15.514 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:15.534 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:17.545 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:17.565 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:19.596 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:19.616 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:21.627 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:21.647 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:23.659 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:23.679 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:25.691 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:25.711 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:27.743 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:27.763 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:29.775 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:29.795 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:31.807 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:31.827 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:33.839 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:33.859 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:35.891 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:35.911 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:37.921 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:04:37.941 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084111886337627 0.07626724544719043,0.9084135404176787 0.07626724544719043,0.9084135404176787 0.0762710694959019,0.9084111886337627 0.0762710694959019,0.9084111886337627 0.07626724544719043)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:04:38.565 INFO  [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator()
14:04:38.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
14:04:38.605 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
15:53:54.045 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
15:53:54.045 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-22 15:53:54.045497647 +02:00
15:53:54.045 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
15:53:54.045 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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
15:53:54.045 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
15:53:54.045 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_15-53-54_simulated_scout.lobsterlog")
15:53:54.053 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
15:53:54.245 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], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
15:53:54.245 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
15:53:54.246 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] }
15:53:54.286 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], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
15:53:54.286 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
15:53:54.962 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], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
15:53:54.962 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
15:53:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
15:53:54.963 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
15:53:54.963 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
15:53:54.963 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
15:53:54.964 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
15:53:54.964 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
15:53:54.964 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
15:53:54.964 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
15:53:54.964 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
15:53:54.964 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
15:53:54.965 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
15:53:54.965 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], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
15:53:54.965 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
15:53:54.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
15:53:54.966 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
15:53:54.966 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
15:53:54.967 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
15:53:54.967 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 }
15:53:54.967 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
15:53:54.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 169941
15:53:54.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
15:53:54.973 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
15:53:54.973 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
15:53:54.974 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
15:53:54.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
15:53:54.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
15:53:54.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
15:53:54.978 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
15:53:54.979 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
15:53:54.980 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
15:53:54.981 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
15:53:54.981 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
15:53:54.982 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
15:53:54.982 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
15:53:54.983 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
15:53:54.984 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
15:53:54.984 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
15:53:54.985 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
15:53:54.985 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
15:53:54.986 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
15:53:54.987 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
15:53:54.988 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
15:53:54.989 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
15:53:54.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
15:53:54.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
15:53:54.991 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
15:53:54.992 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
15:53:54.992 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
15:53:54.992 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
15:53:54.993 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], "dvl_location": [1.3305, 0.0, 0.0176], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_2_location": [1.05957, -0.00255, -0.20834], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
15:53:54.993 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
15:53:54.993 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
15:53:54.993 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 }
15:53:54.993 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
15:53:54.995 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 169970
15:53:54.995 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
15:53:54.995 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
15:53:54.995 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
15:53:54.995 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 }
15:53:54.995 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
15:53:54.997 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 169971
15:53:55.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
15:53:55.298 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
15:53:55.298 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
15:53:55.298 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 }
15:53:55.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
15:53:55.299 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
15:53:55.300 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 169973
15:53:55.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
15:53:55.301 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
15:53:55.301 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 }
15:53:55.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
15:53:55.302 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 169975
15:53:55.302 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
15:53:55.304 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
15:53:55.304 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 }
15:53:55.304 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
15:53:55.304 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
15:53:55.304 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
15:53:55.304 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
15:53:55.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
15:53:55.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
15:53:55.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
15:53:55.306 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
15:53:55.306 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 }
15:53:55.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 170017
15:53:55.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
15:53:55.307 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
15:53:55.307 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 }
15:53:55.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
15:53:55.307 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
15:53:55.307 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 }
15:53:55.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
15:53:55.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 170013
15:53:55.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 170019
15:53:55.309 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
15:53:55.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 170018
15:53:55.319 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
15:53:55.319 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
15:53:55.324 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
15:53:55.324 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
15:53:55.324 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
15:53:55.324 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 }
15:53:55.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
15:53:55.326 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 170022
15:53:55.327 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces
15:53:55.327 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: ["192.168.30.255:10899", "255.255.255.255:10899"]
15:53:55.343 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
15:53:55.343 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
15:53:55.343 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
15:53:55.499 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
15:53:55.499 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
15:53:55.500 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
15:53:55.594 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
15:53:55.600 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
15:53:55.600 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
15:57:36.815 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
15:57:36.825 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
15:57:36.825 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
16:03:43.903 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
16:03:43.903 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:03:43.949 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:04:50.907 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:04:50.910 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:04:50.911 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
16:05:42.348 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:05:42.362 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
16:05:42.362 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:38:40.654 INFO  [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator()
16:38:40.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
16:38:40.809 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
16:38:40.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
16:38:40.970 INFO  [robot_code/peripherals/communication/src/lib.rs:188] Shutting down gRPC server
16:38:41.339 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
16:38:43.441 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
16:38:43.441 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-22 16:38:43.441151937 +02:00
16:38:43.441 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
16:38:43.441 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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
16:38:43.441 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
16:38:43.441 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_16-38-43_simulated_scout.lobsterlog")
16:38:43.445 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
16:38:43.591 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "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_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0]})
16:38:43.591 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
16:38:43.592 INFO  [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: false, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
16:38:43.621 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "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_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0]})
16:38:43.621 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
16:38:44.081 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "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_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0]})
16:38:44.081 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
16:38:44.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
16:38:44.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
16:38:44.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
16:38:44.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
16:38:44.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
16:38:44.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
16:38:44.083 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
16:38:44.083 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
16:38:44.083 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
16:38:44.083 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
16:38:44.083 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
16:38:44.083 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "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_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0]})
16:38:44.083 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
16:38:44.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
16:38:44.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
16:38:44.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
16:38:44.084 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
16:38:44.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
16:38:44.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
16:38:44.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 233896
16:38:44.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
16:38:44.085 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
16:38:44.085 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
16:38:44.085 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
16:38:44.085 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
16:38:44.085 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
16:38:44.085 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
16:38:44.086 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
16:38:44.086 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
16:38:44.086 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
16:38:44.086 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
16:38:44.086 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
16:38:44.087 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
16:38:44.087 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
16:38:44.087 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
16:38:44.087 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
16:38:44.087 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
16:38:44.087 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
16:38:44.088 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
16:38:44.088 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
16:38:44.088 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
16:38:44.088 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
16:38:44.089 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
16:38:44.089 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
16:38:44.089 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
16:38:44.089 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
16:38:44.089 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
16:38:44.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
16:38:44.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
16:38:44.090 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "dvl_location": [1.3305, 0.0, 0.0176], "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_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0]})
16:38:44.090 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
16:38:44.090 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
16:38:44.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
16:38:44.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
16:38:44.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 233925
16:38:44.090 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
16:38:44.090 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
16:38:44.090 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
16:38:44.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
16:38:44.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
16:38:44.091 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 233926
16:38:44.121 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
16:38:44.208 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
16:38:44.208 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
16:38:44.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
16:38:44.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
16:38:44.209 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
16:38:44.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 233928
16:38:44.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
16:38:44.209 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
16:38:44.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
16:38:44.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
16:38:44.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 233930
16:38:44.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
16:38:44.210 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
16:38:44.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true }
16:38:44.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
16:38:44.211 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
16:38:44.211 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
16:38:44.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 233968
16:38:44.211 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
16:38:44.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
16:38:44.211 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
16:38:44.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
16:38:44.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
16:38:44.211 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
16:38:44.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true }
16:38:44.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
16:38:44.211 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
16:38:44.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true }
16:38:44.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 233973
16:38:44.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
16:38:44.212 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
16:38:44.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 233974
16:38:44.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true }
16:38:44.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
16:38:44.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 233975
16:38:44.229 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
16:38:44.229 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
16:38:44.231 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
16:38:44.231 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
16:38:44.231 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
16:38:44.231 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true }
16:38:44.231 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
16:38:44.232 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 233977
16:38:44.232 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
16:38:44.232 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
16:38:44.232 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
16:38:44.232 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces
16:38:44.232 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: ["192.168.30.255:10899", "255.255.255.255:10899"]
16:38:44.308 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:38:44.310 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:38:44.310 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
16:38:46.886 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:38:46.887 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
16:38:46.887 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:39:45.468 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
16:39:45.472 INFO  [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator()
16:39:45.520 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
16:39:45.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
16:39:46.228 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
16:39:46.305 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
16:39:47.452 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping...
16:39:47.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped
16:39:47.453 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'state_estimator'
16:39:47.453 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'control'
16:39:47.453 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'control'
16:39:47.453 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'simulator'
16:39:47.453 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'simulator'
16:39:47.453 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'path_planner'
16:39:56.243 WARN  [robot_code/robot_core/launch/src/lib.rs:466] Not stopped after 10 seconds, aborting program
16:40:05.137 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
16:40:05.138 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-22 16:40:05.138020315 +02:00
16:40:05.138 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
16:40:05.138 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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
16:40:05.138 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
16:40:05.138 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_16-40-05_simulated_scout.lobsterlog")
16:40:05.144 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
16:40:05.283 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "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], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
16:40:05.283 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
16:40:05.284 INFO  [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: false, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
16:40:05.311 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "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], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
16:40:05.311 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
16:40:05.744 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "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], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
16:40:05.744 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
16:40:05.744 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
16:40:05.745 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
16:40:05.745 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
16:40:05.745 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
16:40:05.745 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
16:40:05.745 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
16:40:05.746 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
16:40:05.746 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
16:40:05.746 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
16:40:05.746 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
16:40:05.746 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
16:40:05.746 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "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], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
16:40:05.746 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
16:40:05.746 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
16:40:05.746 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
16:40:05.746 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
16:40:05.746 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
16:40:05.746 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 }
16:40:05.747 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
16:40:05.747 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 234848
16:40:05.747 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
16:40:05.747 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
16:40:05.747 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
16:40:05.747 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
16:40:05.747 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
16:40:05.748 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
16:40:05.748 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
16:40:05.748 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
16:40:05.748 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
16:40:05.748 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
16:40:05.749 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
16:40:05.749 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
16:40:05.749 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
16:40:05.749 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
16:40:05.749 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
16:40:05.749 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
16:40:05.750 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
16:40:05.750 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
16:40:05.750 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
16:40:05.750 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
16:40:05.750 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
16:40:05.750 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
16:40:05.751 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
16:40:05.751 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
16:40:05.751 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
16:40:05.751 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
16:40:05.751 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
16:40:05.752 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
16:40:05.752 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
16:40:05.752 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "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], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
16:40:05.752 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
16:40:05.752 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
16:40:05.752 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
16:40:05.752 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
16:40:05.752 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 234877
16:40:05.752 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
16:40:05.752 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
16:40:05.752 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
16:40:05.752 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
16:40:05.752 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
16:40:05.752 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 234878
16:40:05.782 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
16:40:05.874 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
16:40:05.874 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
16:40:05.874 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
16:40:05.874 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
16:40:05.874 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
16:40:05.874 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 234880
16:40:05.874 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
16:40:05.874 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
16:40:05.875 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
16:40:05.875 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
16:40:05.875 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 234882
16:40:05.875 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
16:40:05.876 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
16:40:05.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true }
16:40:05.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
16:40:05.876 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
16:40:05.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 234920
16:40:05.876 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
16:40:05.876 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
16:40:05.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
16:40:05.876 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
16:40:05.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
16:40:05.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
16:40:05.877 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
16:40:05.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true }
16:40:05.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
16:40:05.877 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
16:40:05.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true }
16:40:05.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 234925
16:40:05.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
16:40:05.877 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
16:40:05.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true }
16:40:05.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 234926
16:40:05.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
16:40:05.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 234927
16:40:05.894 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
16:40:05.894 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
16:40:05.897 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
16:40:05.897 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
16:40:05.897 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
16:40:05.897 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true }
16:40:05.897 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
16:40:05.898 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 234929
16:40:05.898 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
16:40:05.898 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
16:40:05.898 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
16:40:05.898 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces
16:40:05.898 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
16:40:05.947 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:40:05.955 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:40:05.955 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
16:40:05.972 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:40:05.973 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {}
16:40:05.973 INFO  [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings
16:40:05.975 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:40:05.975 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
16:40:06.042 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:40:06.055 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:40:06.055 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
16:40:34.892 INFO  [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator()
16:40:34.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
16:40:34.914 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
16:40:34.925 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
16:40:34.934 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
16:40:35.887 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
16:40:36.872 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping...
16:40:36.873 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped
16:40:36.873 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'state_estimator'
16:40:36.873 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'control'
16:40:36.873 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'control'
16:40:36.873 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'simulator'
16:40:36.873 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'simulator'
16:40:36.873 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'path_planner'
16:40:44.901 WARN  [robot_code/robot_core/launch/src/lib.rs:466] Not stopped after 10 seconds, aborting program
16:41:03.545 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
16:41:03.545 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-22 16:41:03.545636070 +02:00
16:41:03.545 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
16:41:03.545 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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_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/2025-08-22_simulated_scout/2025-08-22_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
16:41:03.545 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
16:41:03.545 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-22_simulated_scout/2025-08-22_16-41-03_simulated_scout.lobsterlog")
16:41:03.570 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
16:41:03.712 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "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], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834]})
16:41:03.712 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
16:41:03.713 INFO  [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: false, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
16:41:03.743 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "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], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834]})
16:41:03.743 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
16:41:04.188 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "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], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834]})
16:41:04.188 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
16:41:04.188 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
16:41:04.188 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
16:41:04.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
16:41:04.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
16:41:04.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
16:41:04.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
16:41:04.189 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
16:41:04.189 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
16:41:04.189 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
16:41:04.189 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
16:41:04.189 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
16:41:04.189 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "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], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834]})
16:41:04.189 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
16:41:04.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
16:41:04.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
16:41:04.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
16:41:04.190 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
16:41:04.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
16:41:04.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
16:41:04.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 235676
16:41:04.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
16:41:04.191 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
16:41:04.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
16:41:04.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
16:41:04.192 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
16:41:04.192 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
16:41:04.192 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
16:41:04.192 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
16:41:04.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
16:41:04.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
16:41:04.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
16:41:04.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
16:41:04.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
16:41:04.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
16:41:04.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
16:41:04.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
16:41:04.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
16:41:04.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
16:41:04.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
16:41:04.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
16:41:04.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
16:41:04.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
16:41:04.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
16:41:04.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
16:41:04.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
16:41:04.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
16:41:04.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
16:41:04.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
16:41:04.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
16:41:04.197 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "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], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834]})
16:41:04.197 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
16:41:04.197 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
16:41:04.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
16:41:04.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
16:41:04.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 235705
16:41:04.197 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
16:41:04.197 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
16:41:04.197 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
16:41:04.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
16:41:04.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
16:41:04.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 235706
16:41:04.228 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
16:41:04.316 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
16:41:04.316 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
16:41:04.316 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
16:41:04.316 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
16:41:04.316 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
16:41:04.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 235708
16:41:04.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
16:41:04.317 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
16:41:04.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
16:41:04.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
16:41:04.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 235710
16:41:04.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
16:41:04.318 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
16:41:04.318 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true }
16:41:04.318 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
16:41:04.318 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
16:41:04.318 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
16:41:04.318 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
16:41:04.318 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
16:41:04.318 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 235748
16:41:04.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
16:41:04.319 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
16:41:04.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
16:41:04.319 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
16:41:04.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true }
16:41:04.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
16:41:04.319 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
16:41:04.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true }
16:41:04.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 235753
16:41:04.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
16:41:04.319 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
16:41:04.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true }
16:41:04.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 235754
16:41:04.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
16:41:04.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 235755
16:41:04.337 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
16:41:04.337 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
16:41:04.339 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
16:41:04.339 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
16:41:04.339 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
16:41:04.339 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true }
16:41:04.339 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
16:41:04.339 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 235757
16:41:04.339 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
16:41:04.339 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
16:41:04.340 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
16:41:04.340 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces
16:41:04.340 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
16:41:04.377 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:41:04.385 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:41:04.386 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {}
16:41:04.386 INFO  [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings
16:41:04.397 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:41:04.397 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:41:04.397 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
16:41:04.397 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
16:41:04.434 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
16:41:04.437 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
16:41:04.437 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
16:44:20.993 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
16:44:20.997 INFO  [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator()
16:44:21.018 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped