15:23:21.937 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
15:23:21.937 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-23 15:23:21.937428726 +02:00
15:23:21.937 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
15:23:21.937 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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
15:23:21.937 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
15:23:21.937 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-23-21_simulated_scout.lobsterlog")
15:23:21.945 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
15:23:22.084 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"dvl_location": [1.3305, 0.0, 0.0176], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0]})
15:23:22.084 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
15:23:22.085 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] }
15:23:22.114 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"dvl_location": [1.3305, 0.0, 0.0176], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0]})
15:23:22.114 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
15:23:22.579 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"dvl_location": [1.3305, 0.0, 0.0176], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0]})
15:23:22.579 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
15:23:22.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
15:23:22.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
15:23:22.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
15:23:22.580 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
15:23:22.580 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
15:23:22.580 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
15:23:22.580 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
15:23:22.580 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
15:23:22.580 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
15:23:22.580 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
15:23:22.580 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
15:23:22.580 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"dvl_location": [1.3305, 0.0, 0.0176], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0]})
15:23:22.581 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
15:23:22.581 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
15:23:22.581 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
15:23:22.581 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
15:23:22.582 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
15:23:22.582 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 }
15:23:22.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
15:23:22.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 50746
15:23:22.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
15:23:22.582 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
15:23:22.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
15:23:22.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
15:23:22.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
15:23:22.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
15:23:22.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
15:23:22.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
15:23:22.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
15:23:22.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
15:23:22.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
15:23:22.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
15:23:22.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
15:23:22.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
15:23:22.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
15:23:22.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
15:23:22.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
15:23:22.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
15:23:22.587 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
15:23:22.587 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
15:23:22.587 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
15:23:22.587 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
15:23:22.587 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
15:23:22.588 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
15:23:22.588 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
15:23:22.588 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
15:23:22.588 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
15:23:22.589 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
15:23:22.589 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
15:23:22.589 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"dvl_location": [1.3305, 0.0, 0.0176], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0]})
15:23:22.589 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
15:23:22.589 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
15:23:22.589 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 }
15:23:22.589 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
15:23:22.589 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 50775
15:23:22.589 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
15:23:22.590 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
15:23:22.590 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
15:23:22.590 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 }
15:23:22.590 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
15:23:22.590 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 50776
15:23:22.620 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
15:23:22.725 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
15:23:22.725 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
15:23:22.725 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 }
15:23:22.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
15:23:22.725 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
15:23:22.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 50778
15:23:22.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
15:23:22.726 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
15:23:22.726 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 }
15:23:22.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
15:23:22.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 50780
15:23:22.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
15:23:22.727 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
15:23:22.727 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 }
15:23:22.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
15:23:22.727 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
15:23:22.727 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
15:23:22.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 50818
15:23:22.727 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
15:23:22.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
15:23:22.727 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
15:23:22.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
15:23:22.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
15:23:22.728 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
15:23:22.728 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 }
15:23:22.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
15:23:22.728 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
15:23:22.728 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 }
15:23:22.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 50823
15:23:22.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
15:23:22.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 50824
15:23:22.728 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
15:23:22.728 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 }
15:23:22.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
15:23:22.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 50825
15:23:22.745 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
15:23:22.745 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
15:23:22.748 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
15:23:22.748 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
15:23:22.748 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
15:23:22.748 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true }
15:23:22.748 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
15:23:22.748 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
15:23:22.748 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 50827
15:23:22.748 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
15:23:22.748 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
15:23:22.750 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces
15:23:22.750 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: ["192.168.30.255:10899", "255.255.255.255:10899"]
15:23:22.785 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
15:23:22.786 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
15:23:22.786 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
15:23:50.442 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: 'surveyArea')
15:23:50.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
15:23:53.400 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
15:23:53.400 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
15:23:53.420 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a Upright task 'Upright task'
15:23:53.460 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
15:23:53.460 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 8caf2b48-3449-463e-9633-549043390c0c, 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 }) })]
15:23:53.460 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 8caf2b48-3449-463e-9633-549043390c0c, 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 }) })]
15:23:53.470 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 8caf2b48-3449-463e-9633-549043390c0c, start_time: Some(30.58 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)
15:23:53.470 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:23:53.470 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: 24627004-8960-4b49-a3b8-ba80cac4e6cb)"), mode: None }
15:23:53.470 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-23-53_Upright task/2025-08-23_15-23-53_Upright task_rust.log"
15:23:53.470 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-23-53_Upright task
15:23:53.491 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09851248013171401, Enable control depth: 0.2, Depth control enabled: true
15:23:53.491 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
15:23:53.491 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:23:53.491 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: 0.09851248013171401 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
15:23:53.491 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 8caf2b48-3449-463e-9633-549043390c0c, start_time: Some(30.58 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)
15:23:53.500 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 8caf2b48-3449-463e-9633-549043390c0c, start_time: Some(30.58 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 }) })
15:23:53.511 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
15:23:53.511 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
15:23:53.540 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))]
15:23:53.540 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:23:53.541 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))]
15:23:53.541 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-23_15-23-53_Upright task")
15:23:53.541 INFO  [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:281] Updated geodetic origin to: PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }
15:23:53.541 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Started)
15:23:53.541 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: MoveTo, name: 'move to start of 'surveyArea'', id: a06a71fa-e901-45cf-89c7-b4cca94d000a)"), mode: None }
15:23:53.541 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-23-53_move to start of \'surveyArea\'/2025-08-23_15-23-53_move to start of \'surveyArea\'_rust.log"
15:23:53.541 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-23-53_move to start of 'surveyArea'
15:23:53.541 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:561] Starting task 'move to start of 'surveyArea'', to prepare for SurveyArea task 'surveyArea'
15:23:53.572 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09850285064217755, Enable control depth: 0.2, Depth control enabled: true
15:23:53.572 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:23:53.572 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: 0.9084177717068975, lon: 0.0762768590193838 }), update_count: 1 } }), hold_duration: None } }]
15:23:53.572 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -35.31146469205824 m^1, east: -30.12366105545331 m^1, down: 0.09850285064217755 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), update_count: 1 } }
15:23:53.572 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Preparing)
15:23:53.572 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
15:23:53.572 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })
15:23:53.581 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:23:54.387 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20469050629488628, Enable control depth: 0.2, Depth control enabled: false
15:23:54.387 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller
15:23:55.934 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
15:24:18.182 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: 0.9084177717068975, lon: 0.0762768590193838 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }]
15:24:18.182 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:18.183 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })
15:24:18.203 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:20.214 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:20.234 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:22.246 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:22.265 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:24.278 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:24.298 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:26.330 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:26.350 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:28.341 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:28.361 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:30.372 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:30.392 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:32.402 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:32.422 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:34.434 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:34.453 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:36.485 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:36.505 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:38.517 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:38.537 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:40.549 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:40.570 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:42.582 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:42.602 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:44.635 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:44.654 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:46.666 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:46.686 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:48.697 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:48.717 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:50.729 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:50.749 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:52.781 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:52.801 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:54.813 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:54.814 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:56.846 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:56.866 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:24:58.877 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:24:58.897 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:25:00.929 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:25:00.949 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:25:02.961 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:25:02.981 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:25:04.993 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:25:05.013 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:25:07.025 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
15:25:07.045 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:25:07.689 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })), Finished)
15:25:07.689 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 })
15:25:07.709 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: 0.9084177717068975, lon: 0.0762768590193838 }), max_velocity: 1.0 m^1 s^-1 }))
15:25:07.709 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SurveyArea task 'surveyArea'
15:25:07.709 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
15:25:07.710 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
15:25:07.770 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
15:25:07.770 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
15:25:07.770 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
15:25:07.770 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
15:25:07.771 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:25:07.771 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-23_15-23-53_move to start of 'surveyArea'")
15:25:07.771 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 90989cea-55b5-466e-97ee-b61880b0e287)"), mode: None }
15:25:07.772 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-25-07_surveyArea/2025-08-23_15-25-07_surveyArea_rust.log"
15:25:07.772 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-25-07_surveyArea
15:25:07.801 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:25:07.801 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.11950375258030976 m^1, east: 0.10194657830805515 m^1, down: 5.193274536769853 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), update_count: 1 } }
15:25:07.802 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing)
15:25:07.802 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.193274536769853 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 1.019530819031558 m^1, east: 0.16199400987379609 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), update_count: 1 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 1.019530819031558 m^1, east: 0.16199400987379609 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), update_count: 1 } }), target_velocity: 0.4000000059604645 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
15:25:07.802 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:25:07.810 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:25:29.692 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: 1.019530819031558 m^1, east: 0.16199400987379609 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), update_count: 1 } }, end: PositionNE { north: -1.0195306155354165 m^1, east: 0.16199400987379609 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -1.0195306155354165 m^1, east: -0.6981416846799255 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), update_count: 1 } }, end: PositionNE { north: 1.019530819031558 m^1, east: -0.6981416846799255 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }]
15:25:29.692 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:25:29.692 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:25:29.693 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
15:25:29.713 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:25:29.773 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-25-07_surveyArea/photos/mocked_image_0.raw"
15:25:29.773 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:29.793 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:29.873 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:29.974 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:30.074 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:30.175 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:30.275 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:30.375 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:30.476 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:30.576 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:30.677 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:30.777 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:30.878 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:30.978 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:31.079 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:31.180 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:31.280 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:31.380 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:31.481 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:31.581 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:31.682 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:31.722 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:25:31.742 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:25:31.782 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:31.783 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-25-07_surveyArea/photos/mocked_image_20.raw"
15:25:31.883 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:31.983 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:32.084 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:32.184 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:32.284 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:32.385 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:32.485 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:32.586 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:32.687 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:32.787 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:32.887 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:32.987 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:33.088 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:33.189 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:33.289 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:33.389 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:33.490 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:33.590 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:33.691 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:33.751 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:25:33.771 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:25:33.791 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:33.791 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-25-07_surveyArea/photos/mocked_image_40.raw"
15:25:33.892 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:33.992 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:34.092 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:34.193 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:34.294 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:34.394 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:34.494 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:34.595 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:34.695 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:34.796 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:34.816 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:34.896 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:34.996 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:35.097 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:35.197 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:35.258 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
15:25:35.298 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:35.399 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:35.499 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:35.599 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:35.700 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:35.800 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:25:35.801 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-25-07_surveyArea/photos/mocked_image_60.raw"
15:25:35.801 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:35.821 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:25:35.901 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:36.001 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:36.102 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:36.202 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:36.303 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:36.404 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:36.504 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:36.604 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:36.704 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:36.805 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:36.906 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:37.006 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:37.106 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:37.207 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:37.307 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:37.408 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:37.508 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:37.609 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:37.709 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:37.810 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:37.810 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-25-07_surveyArea/photos/mocked_image_80.raw"
15:25:37.830 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:25:37.850 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:25:37.910 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:38.010 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:38.111 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:38.212 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:38.312 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:38.412 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:38.513 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:38.613 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:38.714 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:38.814 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:38.915 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:39.015 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:39.116 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:39.156 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
15:25:39.217 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:39.317 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:39.417 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:39.517 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:39.618 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:39.718 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:39.818 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:39.818 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-25-07_surveyArea/photos/mocked_image_100.raw"
15:25:39.838 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:39.859 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:25:39.879 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:25:39.919 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:40.019 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:40.120 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:40.221 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:40.321 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:40.422 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:40.522 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:40.622 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:40.723 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:40.823 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:40.924 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:41.024 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:41.125 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:41.225 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:41.326 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:41.426 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:41.527 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:41.627 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:41.730 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:41.829 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:41.830 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-25-07_surveyArea/photos/mocked_image_120.raw"
15:25:41.889 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:25:41.909 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:25:41.929 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:42.030 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:42.133 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:42.231 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:42.331 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:42.431 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:42.534 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:42.634 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:42.736 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:42.836 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:42.937 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:43.037 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:43.138 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:43.238 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:43.339 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:43.439 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:43.540 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:43.640 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:43.741 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:43.841 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:43.841 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-25-07_surveyArea/photos/mocked_image_140.raw"
15:25:43.942 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:25:43.942 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:43.963 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:25:44.043 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:44.143 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:44.243 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:44.344 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:44.444 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:44.545 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:44.645 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:44.746 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
15:25:44.746 ERROR [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:25:44.766 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished)
15:25:44.766 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:25:44.786 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084176149213031 0.07627660408103515,0.9084179284924917 0.07627660408103515,0.9084179284924917 0.07627711395773246,0.9084176149213031 0.07627711395773246,0.9084176149213031 0.07627660408103515)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:25:44.787 WARN  [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now
15:25:44.788 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
15:25:44.789 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
15:25:44.807 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:41] Camera trigger responder stopped: RecvError
15:25:44.807 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
15:25:44.808 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)
15:25:44.808 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-23_15-25-07_surveyArea")
15:25:44.808 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: c5d0bc4f-c360-43a2-b76c-6957f5adbeaa)"), mode: None }
15:25:44.808 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) }))]
15:25:44.808 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) }))]
15:25:44.808 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:25:44.810 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-25-44_waiting, hold position/2025-08-23_15-25-44_waiting, hold position_rust.log"
15:25:44.810 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-25-44_waiting, hold position
15:25:44.811 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position'
15:25:44.858 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:25:44.858 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.9511504596492506 m^1, east: -0.7492246180982232 m^1, down: 9.020092925745686 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), update_count: 1 } }
15:25:44.858 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.9511504596492506 m^1, east: -0.7492246180982232 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }]
15:25:44.858 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) })
15:25:44.858 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)
15:25:44.867 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) }))
15:26:29.591 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.1984614304235599, Enable control depth: 0.2, Depth control enabled: true
15:26:29.591 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
15:26:30.294 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.9511504596492506 m^1, east: -0.7492246180982232 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(0.0 s^1) } }]
15:26:30.295 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)
15:26:30.295 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) })
15:26:30.315 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) }))
15:26:30.335 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)
15:26:30.335 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) })
15:26:30.355 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) }))
15:26:30.355 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started)
15:26:30.355 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) }))
15:26:30.395 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.9502063103479133 m^1, east: -0.7492178465170141 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }]
15:26:30.395 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) })
15:26:30.396 DEBUG [robot_code/robot_core/path_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)
15:26:30.415 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) }))
15:26:30.435 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.9502063103479133 m^1, east: -0.7492178465170141 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084177717068975, lon: 0.0762768590193838 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }]
15:26:30.435 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) })
15:26:30.435 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:26:30.455 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:26:32.467 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:26:32.487 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:26:34.527 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:26:34.547 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) }))
15:26:36.572 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:26:36.592 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:26:38.611 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:26:38.631 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) }))
15:26:40.642 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:26:40.662 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) }))
15:26:42.707 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:26:42.727 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:26:44.759 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:26:44.778 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:26:46.795 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:26:46.815 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:26:48.826 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:26:48.846 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:26:50.877 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:26:50.898 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:26:52.909 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)
15:26:52.929 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) }))
15:26:54.940 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)
15:26:54.960 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) }))
15:26:56.970 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:26:56.990 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:26:59.020 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)
15:26:59.040 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) }))
15:27:01.051 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:27:01.071 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:27:03.082 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)
15:27:03.102 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) }))
15:27:05.113 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)
15:27:05.133 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) }))
15:27:07.165 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:27:07.185 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:27:09.196 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:27:09.216 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:27:11.231 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:27:11.252 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) }))
15:27:13.261 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:27:13.281 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:27:15.312 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:27:15.332 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:27:17.348 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:27:17.367 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:27:19.378 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)
15:27:19.398 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) }))
15:27:21.408 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:27:21.428 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:27:23.459 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:27:23.479 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:27:25.489 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:27:25.509 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:27:27.521 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:27:27.541 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:27:29.555 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:27:29.575 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:27:31.607 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:27:31.628 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:27:32.190 INFO  [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator()
15:27:32.231 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
15:27:32.252 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
15:27:32.384 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
15:27:32.782 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
15:27:48.839 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
15:27:48.839 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-23 15:27:48.839719584 +02:00
15:27:48.839 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
15:27:48.839 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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
15:27:48.839 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
15:27:48.839 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-27-48_simulated_scout.lobsterlog")
15:27:48.850 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
15:27:49.084 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], "camera_front_location": [1.1187, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "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], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0]})
15:27:49.084 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
15:27:49.085 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] }
15:27:49.132 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], "camera_front_location": [1.1187, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "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], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0]})
15:27:49.132 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
15:27:49.803 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], "camera_front_location": [1.1187, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "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], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0]})
15:27:49.803 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
15:27:49.803 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
15:27:49.804 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
15:27:49.804 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
15:27:49.804 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
15:27:49.804 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
15:27:49.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
15:27:49.805 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
15:27:49.805 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
15:27:49.805 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
15:27:49.805 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
15:27:49.805 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
15:27:49.805 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], "camera_front_location": [1.1187, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "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], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0]})
15:27:49.805 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
15:27:49.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
15:27:49.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
15:27:49.806 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
15:27:49.806 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
15:27:49.806 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 }
15:27:49.806 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
15:27:49.806 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 54193
15:27:49.806 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
15:27:49.807 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
15:27:49.807 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
15:27:49.807 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
15:27:49.807 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
15:27:49.808 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
15:27:49.808 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
15:27:49.808 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
15:27:49.809 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
15:27:49.809 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
15:27:49.810 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
15:27:49.810 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
15:27:49.810 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
15:27:49.811 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
15:27:49.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
15:27:49.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
15:27:49.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
15:27:49.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
15:27:49.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
15:27:49.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
15:27:49.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
15:27:49.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
15:27:49.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
15:27:49.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
15:27:49.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
15:27:49.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
15:27:49.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
15:27:49.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
15:27:49.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
15:27:49.816 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], "camera_front_location": [1.1187, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "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], "sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0]})
15:27:49.817 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
15:27:49.817 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
15:27:49.817 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 }
15:27:49.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
15:27:49.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 54222
15:27:49.817 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
15:27:49.817 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
15:27:49.817 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
15:27:49.817 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 }
15:27:49.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
15:27:49.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 54223
15:27:49.847 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
15:27:50.032 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
15:27:50.033 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
15:27:50.033 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 }
15:27:50.033 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
15:27:50.033 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
15:27:50.033 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 54225
15:27:50.033 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
15:27:50.034 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
15:27:50.034 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 }
15:27:50.034 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
15:27:50.034 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 54227
15:27:50.035 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
15:27:50.036 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
15:27:50.036 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 }
15:27:50.036 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
15:27:50.036 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
15:27:50.036 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
15:27:50.037 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
15:27:50.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 54265
15:27:50.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
15:27:50.037 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
15:27:50.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
15:27:50.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
15:27:50.038 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
15:27:50.038 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 }
15:27:50.038 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
15:27:50.038 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
15:27:50.038 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 }
15:27:50.038 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 54270
15:27:50.038 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
15:27:50.038 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
15:27:50.038 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 }
15:27:50.038 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 54271
15:27:50.038 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
15:27:50.038 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 54272
15:27:50.053 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
15:27:50.054 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
15:27:50.057 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
15:27:50.057 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
15:27:50.059 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
15:27:50.059 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 }
15:27:50.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
15:27:50.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 54274
15:27:50.059 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
15:27:50.059 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
15:27:50.060 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
15:27:50.060 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces
15:27:50.060 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
15:27:50.312 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
15:27:50.313 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {}
15:27:50.313 INFO  [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings
15:27:50.314 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
15:27:50.315 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
15:29:26.977 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
15:29:26.977 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: 'surveyArea')
15:29:28.085 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
15:29:28.085 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
15:29:28.105 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a Upright task 'Upright task'
15:29:28.144 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
15:29:28.145 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 23dc23ef-b36c-4ffc-b05b-d225e6efe253, 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 }) })]
15:29:28.145 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 23dc23ef-b36c-4ffc-b05b-d225e6efe253, 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 }) })]
15:29:28.155 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 23dc23ef-b36c-4ffc-b05b-d225e6efe253, start_time: Some(97.58 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)
15:29:28.155 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:29:28.155 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: 5359b709-aab4-404f-9b64-65a1071c36bf)"), mode: None }
15:29:28.155 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-29-28_Upright task/2025-08-23_15-29-28_Upright task_rust.log"
15:29:28.155 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-29-28_Upright task
15:29:28.175 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849563989561687, Enable control depth: 0.2, Depth control enabled: true
15:29:28.175 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
15:29:28.175 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:29:28.175 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: 0.09849563989561687 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
15:29:28.175 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 23dc23ef-b36c-4ffc-b05b-d225e6efe253, start_time: Some(97.58 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)
15:29:28.185 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 23dc23ef-b36c-4ffc-b05b-d225e6efe253, start_time: Some(97.58 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 }) })
15:29:28.185 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SurveyArea task 'surveyArea'
15:29:28.195 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
15:29:28.195 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
15:29:28.225 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
15:29:28.226 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
15:29:28.226 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
15:29:28.226 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:29:28.226 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 91a506a3-85e7-4e2e-b316-1c4a1771c9f1)"), mode: None }
15:29:28.226 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-23_15-29-28_Upright task")
15:29:28.227 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-29-28_surveyArea/2025-08-23_15-29-28_surveyArea_rust.log"
15:29:28.227 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-29-28_surveyArea
15:29:28.256 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849564210217837, Enable control depth: 0.2, Depth control enabled: true
15:29:28.256 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:29:28.256 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: -0.8946531231119756 m^1, east: 0.16199398740119964 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -0.8946531231119756 m^1, east: 0.16199398740119964 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 0.4000000059604645 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
15:29:28.257 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing)
15:29:28.257 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:29:28.257 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
15:29:28.257 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: 0.09849564210217837 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
15:29:28.265 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:29:29.069 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.2046832930173217, Enable control depth: 0.2, Depth control enabled: false
15:29:29.070 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller
15:29:30.617 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
15:30:13.697 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -0.8946531231119756 m^1, east: 0.16199398740119964 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 1.14440819969629 m^1, east: 0.16199398740119964 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 1.14440819969629 m^1, east: -0.698141707152522 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -0.8946531231119756 m^1, east: -0.698141707152522 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }]
15:30:13.697 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:30:13.697 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:30:13.716 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:30:13.737 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:13.737 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-29-28_surveyArea/photos/mocked_image_0.raw"
15:30:13.757 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:13.837 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:13.938 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:14.038 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:14.139 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:14.239 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:14.340 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:14.440 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:14.541 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:14.641 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:14.742 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:14.842 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:14.943 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:15.043 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:15.143 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:15.244 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:15.344 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:15.445 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:15.545 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:15.646 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:15.746 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:15.746 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-29-28_surveyArea/photos/mocked_image_20.raw"
15:30:15.746 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:30:15.767 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:30:15.847 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:15.948 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:16.048 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:16.148 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:16.249 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:16.349 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:16.449 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:16.549 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:16.650 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:16.750 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:16.851 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:16.951 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:17.052 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:17.152 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:17.252 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:17.353 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:17.453 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:17.554 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:17.654 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:17.755 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:17.755 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-29-28_surveyArea/photos/mocked_image_40.raw"
15:30:17.775 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:30:17.795 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:30:17.855 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:17.956 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:18.057 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:18.157 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:18.257 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:18.357 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:18.458 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:18.558 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:18.659 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:18.759 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:18.780 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:18.860 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:18.960 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:19.061 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:19.161 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:19.262 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:19.362 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:19.463 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:19.564 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:19.664 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:19.765 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:19.765 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-29-28_surveyArea/photos/mocked_image_60.raw"
15:30:19.805 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:30:19.825 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:30:19.865 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:19.965 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:20.066 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:20.166 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:20.267 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:20.367 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:20.468 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:20.568 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:20.669 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:20.769 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:20.869 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:20.970 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:21.070 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:21.171 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:21.271 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:21.372 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:21.472 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:21.573 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:21.673 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:21.773 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:21.774 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-29-28_surveyArea/photos/mocked_image_80.raw"
15:30:21.834 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:30:21.854 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:30:21.874 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:21.974 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:22.075 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:22.175 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:22.275 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:22.376 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:22.476 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:22.577 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:22.677 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:22.778 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:22.879 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:22.979 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:23.079 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:23.180 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:23.280 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:23.381 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:23.482 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:23.582 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:23.682 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:23.782 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:23.783 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-29-28_surveyArea/photos/mocked_image_100.raw"
15:30:23.783 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
15:30:23.803 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:23.883 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:23.883 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:30:23.903 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:30:23.983 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:24.084 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:24.184 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:24.285 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:24.385 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:24.486 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:24.586 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:24.687 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:24.787 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:24.888 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:24.989 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:25.089 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:25.190 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:25.290 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:25.391 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:25.491 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:25.591 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:25.692 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:25.792 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:25.793 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-29-28_surveyArea/photos/mocked_image_120.raw"
15:30:25.893 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:25.913 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:30:25.933 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:30:25.993 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:26.094 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:26.194 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:26.294 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:26.395 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:26.495 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:26.596 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:26.696 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:26.797 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:26.897 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:26.998 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:27.098 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:27.198 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:27.299 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:27.400 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:27.500 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:27.600 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:27.701 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:27.801 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:27.801 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-29-28_surveyArea/photos/mocked_image_140.raw"
15:30:27.902 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:27.943 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:30:27.962 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:30:28.002 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:28.103 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:28.203 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:28.303 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:28.404 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:28.505 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:28.605 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:28.706 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:28.806 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:28.826 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:28.907 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:29.006 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:29.107 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:29.208 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:29.308 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:29.309 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
15:30:29.408 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:29.509 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:29.610 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:29.710 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:29.811 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:29.811 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-29-28_surveyArea/photos/mocked_image_160.raw"
15:30:29.911 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:29.971 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:30:29.992 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:30:30.012 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:30.112 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:30.213 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:30.313 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:30.414 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:30.514 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:30.614 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:30.715 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:30.815 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:30.916 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:31.016 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:31.116 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:31.217 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:31.317 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:31.418 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:31.518 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:31.619 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:31.719 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:31.820 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:31.820 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-29-28_surveyArea/photos/mocked_image_180.raw"
15:30:31.920 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:32.021 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:30:32.021 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:32.041 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:30:32.121 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:32.221 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:32.322 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:32.422 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:32.523 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:32.623 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:32.724 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:32.824 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:32.925 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:33.026 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:33.127 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:33.147 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
15:30:33.227 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:33.340 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:33.443 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:33.542 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:33.643 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:33.744 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:33.847 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:33.847 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-29-28_surveyArea/photos/mocked_image_200.raw"
15:30:33.865 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:33.946 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:34.046 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:34.066 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:30:34.086 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:30:34.146 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:34.247 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:34.347 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:34.448 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:34.548 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:34.648 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:34.749 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:34.849 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:34.950 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:35.050 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:35.151 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:35.251 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:35.352 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:35.452 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:35.553 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:35.653 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:35.753 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:35.854 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:35.854 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-29-28_surveyArea/photos/mocked_image_220.raw"
15:30:35.954 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:36.055 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:36.095 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:30:36.115 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:30:36.155 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:36.256 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:36.356 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:36.457 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:36.563 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:36.661 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:36.761 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:36.862 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:36.962 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:37.062 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:37.163 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:37.264 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:37.364 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:37.464 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:37.565 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:37.665 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:37.766 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:37.866 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:37.866 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-29-28_surveyArea/photos/mocked_image_240.raw"
15:30:37.967 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:38.067 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:38.127 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:30:38.147 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:30:38.168 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:38.268 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:38.368 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:38.469 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:38.569 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:38.670 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:38.770 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:38.810 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
15:30:38.831 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished)
15:30:38.831 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:30:38.850 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120956461118 0.07626894040623355,0.9084124092173004 0.07626894040623355,0.9084124092173004 0.0762694502793213,0.9084120956461118 0.0762694502793213,0.9084120956461118 0.07626894040623355)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:30:38.851 WARN  [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now
15:30:38.870 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: LightTemperatureError(MissingTemperature)
15:30:38.871 INFO  [robot_code/peripherals/payload/src/position_camera.rs:223] Stopping PositionCamera recording, because receiver stopped
15:30:38.871 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:41] Camera trigger responder stopped: RecvError
15:30:38.871 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
15:30:38.871 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
15:30:38.871 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
15:30:38.871 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:30:38.871 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Started)
15:30:38.871 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-23_15-29-28_surveyArea")
15:30:38.871 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'waiting, hold position', id: 72bb697b-b87d-40b5-9569-2501b5da37c7)"), mode: None }
15:30:38.871 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-30-38_waiting, hold position/2025-08-23_15-30-38_waiting, hold position_rust.log"
15:30:38.872 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-30-38_waiting, hold position
15:30:38.872 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position'
15:30:38.891 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.8170521892410704 m^1, east: -0.7482820522168445 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 } }]
15:30:38.891 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Preparing)
15:30:38.891 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })
15:30:38.911 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) }))
15:30:48.424 INFO  [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator()
15:30:48.492 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
15:30:48.563 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
15:30:48.640 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
15:30:49.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
15:30:49.261 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
15:30:50.404 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping...
15:30:50.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped
15:30:50.405 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'state_estimator'
15:30:50.405 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'control'
15:30:50.405 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'control'
15:30:50.405 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'simulator'
15:30:50.405 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'simulator'
15:30:50.405 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'path_planner'
15:30:59.078 WARN  [robot_code/robot_core/launch/src/lib.rs:466] Not stopped after 10 seconds, aborting program
15:31:18.115 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
15:31:18.115 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-23 15:31:18.115551560 +02:00
15:31:18.115 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
15:31:18.115 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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
15:31:18.115 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
15:31:18.115 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-31-18_simulated_scout.lobsterlog")
15:31:18.127 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
15:31:18.339 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_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], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
15:31:18.339 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
15:31:18.341 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] }
15:31:18.386 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_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], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
15:31:18.386 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
15:31:19.050 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_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], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
15:31:19.050 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
15:31:19.050 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
15:31:19.050 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
15:31:19.051 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
15:31:19.051 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
15:31:19.051 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
15:31:19.051 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
15:31:19.052 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
15:31:19.052 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
15:31:19.052 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
15:31:19.052 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
15:31:19.052 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
15:31:19.052 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_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], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
15:31:19.052 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
15:31:19.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
15:31:19.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
15:31:19.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
15:31:19.053 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
15:31:19.054 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 }
15:31:19.054 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
15:31:19.054 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 57322
15:31:19.054 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
15:31:19.055 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
15:31:19.055 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
15:31:19.056 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
15:31:19.057 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
15:31:19.057 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
15:31:19.057 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
15:31:19.057 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
15:31:19.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
15:31:19.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
15:31:19.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
15:31:19.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
15:31:19.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
15:31:19.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
15:31:19.060 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
15:31:19.060 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
15:31:19.060 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
15:31:19.060 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
15:31:19.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
15:31:19.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
15:31:19.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
15:31:19.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
15:31:19.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
15:31:19.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
15:31:19.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
15:31:19.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
15:31:19.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
15:31:19.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
15:31:19.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
15:31:19.066 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_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], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
15:31:19.066 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
15:31:19.067 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
15:31:19.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
15:31:19.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
15:31:19.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 57351
15:31:19.067 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
15:31:19.067 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
15:31:19.067 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
15:31:19.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
15:31:19.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
15:31:19.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 57352
15:31:19.098 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
15:31:19.318 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
15:31:19.318 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
15:31:19.318 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 }
15:31:19.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
15:31:19.319 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
15:31:19.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 57354
15:31:19.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
15:31:19.319 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
15:31:19.320 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 }
15:31:19.320 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
15:31:19.320 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 57356
15:31:19.320 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
15:31:19.322 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
15:31:19.322 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 }
15:31:19.322 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
15:31:19.322 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
15:31:19.322 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 57394
15:31:19.323 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
15:31:19.323 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
15:31:19.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
15:31:19.323 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
15:31:19.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
15:31:19.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
15:31:19.324 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
15:31:19.324 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 }
15:31:19.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
15:31:19.324 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
15:31:19.324 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 }
15:31:19.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
15:31:19.324 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
15:31:19.324 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 }
15:31:19.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 57399
15:31:19.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
15:31:19.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 57401
15:31:19.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 57400
15:31:19.339 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
15:31:19.339 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
15:31:19.342 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
15:31:19.342 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
15:31:19.343 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
15:31:19.343 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 }
15:31:19.343 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
15:31:19.343 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 57403
15:31:19.343 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
15:31:19.343 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
15:31:19.343 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
15:31:19.343 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces
15:31:19.344 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
15:31:19.582 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
15:31:19.583 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {}
15:31:19.583 INFO  [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings
15:31:19.600 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
15:31:19.601 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
15:31:24.870 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: 'surveyArea')
15:31:24.870 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
15:31:27.569 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
15:31:27.569 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
15:31:27.589 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a Upright task 'Upright task'
15:31:27.609 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
15:31:27.609 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 77179ab2-4892-4390-9356-6bd415835023, 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 }) })]
15:31:27.610 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 77179ab2-4892-4390-9356-6bd415835023, 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 }) })]
15:31:27.619 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 77179ab2-4892-4390-9356-6bd415835023, start_time: Some(8.28 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)
15:31:27.619 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:31:27.619 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: ee373add-14d5-4773-9880-f2ab8eec9d58)"), mode: None }
15:31:27.620 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-31-27_Upright task/2025-08-23_15-31-27_Upright task_rust.log"
15:31:27.620 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-31-27_Upright task
15:31:27.640 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 77179ab2-4892-4390-9356-6bd415835023, start_time: Some(8.28 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)
15:31:27.640 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:31:27.640 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: 0.5386670626878645 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
15:31:27.649 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 77179ab2-4892-4390-9356-6bd415835023, start_time: Some(8.28 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 }) })
15:31:27.649 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SurveyArea task 'surveyArea'
15:31:27.660 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
15:31:27.660 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
15:31:27.690 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121167914276 0.07626886380886538,0.9084124303626162 0.07626886380886538,0.9084124303626162 0.07626937368196735,0.9084121167914276 0.07626937368196735,0.9084121167914276 0.07626886380886538)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
15:31:27.690 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121167914276 0.07626886380886538,0.9084124303626162 0.07626886380886538,0.9084124303626162 0.07626937368196735,0.9084121167914276 0.07626937368196735,0.9084121167914276 0.07626886380886538)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
15:31:27.690 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121167914276 0.07626886380886538,0.9084124303626162 0.07626886380886538,0.9084124303626162 0.07626937368196735,0.9084121167914276 0.07626937368196735,0.9084121167914276 0.07626886380886538)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
15:31:27.691 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:31:27.691 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-23_15-31-27_Upright task")
15:31:27.691 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 3b9e2bc5-9734-4687-95fa-c11f61e3d1d1)"), mode: None }
15:31:27.692 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-31-27_surveyArea/2025-08-23_15-31-27_surveyArea_rust.log"
15:31:27.692 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-31-27_surveyArea
15:31:27.720 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:31:27.720 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: 0.5338147182642414 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
15:31:27.721 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: -0.7598475129602167 m^1, east: -0.1390899103451727 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -0.7598475129602167 m^1, east: -0.1390899103451727 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 0.4000000059604645 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
15:31:27.721 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084121167914276 0.07626886380886538,0.9084124303626162 0.07626886380886538,0.9084124303626162 0.07626937368196735,0.9084121167914276 0.07626937368196735,0.9084121167914276 0.07626886380886538)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:31:27.721 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121167914276 0.07626886380886538,0.9084124303626162 0.07626886380886538,0.9084124303626162 0.07626937368196735,0.9084121167914276 0.07626937368196735,0.9084121167914276 0.07626886380886538)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing)
15:31:27.730 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121167914276 0.07626886380886538,0.9084124303626162 0.07626886380886538,0.9084124303626162 0.07626937368196735,0.9084121167914276 0.07626937368196735,0.9084121167914276 0.07626886380886538)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:32:11.091 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -0.7598475129602167 m^1, east: -0.1390899103451727 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 1.2792139141561774 m^1, east: -0.1390899103451727 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 1.2792139365079191 m^1, east: -0.9992256048988943 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -0.7598474608061525 m^1, east: -0.9992256048988943 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }]
15:32:11.091 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121167914276 0.07626886380886538,0.9084124303626162 0.07626886380886538,0.9084124303626162 0.07626937368196735,0.9084121167914276 0.07626937368196735,0.9084121167914276 0.07626886380886538)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:32:11.091 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084121167914276 0.07626886380886538,0.9084124303626162 0.07626886380886538,0.9084124303626162 0.07626937368196735,0.9084121167914276 0.07626937368196735,0.9084121167914276 0.07626886380886538)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:32:11.111 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121167914276 0.07626886380886538,0.9084124303626162 0.07626886380886538,0.9084124303626162 0.07626937368196735,0.9084121167914276 0.07626937368196735,0.9084121167914276 0.07626886380886538)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:32:11.212 INFO  [robot_code/peripherals/payload/src/position_camera.rs:229] PositionCamera recording stopped
15:32:11.212 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-31-27_surveyArea/photos/mocked_image_0.raw"
15:32:11.212 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:41] Camera trigger responder stopped: RecvError
15:32:11.232 WARN  [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now
15:32:11.232 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:196] Payload session stopped
15:32:11.252 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:528] Cancelling goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084121167914276 0.07626886380886538,0.9084124303626162 0.07626886380886538,0.9084124303626162 0.07626937368196735,0.9084121167914276 0.07626937368196735,0.9084121167914276 0.07626886380886538)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
15:32:11.252 INFO  [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:126] Aborting task: payload session stopped
15:32:11.252 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-23_15-31-27_surveyArea")
15:32:11.252 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: AbortTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 3b9e2bc5-9734-4687-95fa-c11f61e3d1d1)"), mode: None }
15:32:11.252 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
15:32:11.252 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
15:32:11.292 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
15:32:11.292 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) }))]
15:32:11.292 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) }))]
15:32:11.292 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:32:11.292 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)
15:32:11.292 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: 85159d17-b620-4a66-b9bc-ddbd8a526bd4)"), mode: None }
15:32:11.293 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-32-11_waiting, hold position/2025-08-23_15-32-11_waiting, hold position_rust.log"
15:32:11.293 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-32-11_waiting, hold position
15:32:11.293 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position'
15:32:11.323 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.7421227617260364 m^1, east: -0.13587422875133365 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 } }]
15:32:11.323 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)
15:32:11.323 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:32:11.323 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.7421227617260364 m^1, east: -0.13587422875133365 m^1, down: 9.01985687023039 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
15:32:11.323 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) })
15:32:11.332 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) }))
15:32:43.142 INFO  [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator()
15:32:43.192 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
15:32:43.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
15:32:43.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
15:32:43.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
15:32:43.445 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
15:32:45.123 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping...
15:32:45.123 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped
15:32:45.123 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'state_estimator'
15:32:45.123 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'control'
15:32:45.124 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'control'
15:32:45.124 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'simulator'
15:32:45.124 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'simulator'
15:32:45.124 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'path_planner'
15:32:53.352 WARN  [robot_code/robot_core/launch/src/lib.rs:466] Not stopped after 10 seconds, aborting program
15:33:18.339 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
15:33:18.339 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-23 15:33:18.339964839 +02:00
15:33:18.340 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
15:33:18.340 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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
15:33:18.340 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
15:33:18.340 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-18_simulated_scout.lobsterlog")
15:33:18.346 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
15:33:18.674 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725], "dvl_location": [1.3305, 0.0, 0.0176], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048]})
15:33:18.674 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
15:33:18.676 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: 2.0, 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] }
15:33:18.739 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725], "dvl_location": [1.3305, 0.0, 0.0176], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048]})
15:33:18.739 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
15:33:19.698 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725], "dvl_location": [1.3305, 0.0, 0.0176], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048]})
15:33:19.698 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
15:33:19.698 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
15:33:19.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
15:33:19.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
15:33:19.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
15:33:19.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
15:33:19.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
15:33:19.701 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
15:33:19.701 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
15:33:19.701 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
15:33:19.701 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
15:33:19.701 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
15:33:19.701 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725], "dvl_location": [1.3305, 0.0, 0.0176], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048]})
15:33:19.701 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
15:33:19.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
15:33:19.703 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
15:33:19.704 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
15:33:19.704 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
15:33:19.705 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 }
15:33:19.705 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
15:33:19.705 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 59707
15:33:19.705 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
15:33:19.706 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
15:33:19.706 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
15:33:19.706 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
15:33:19.706 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
15:33:19.707 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
15:33:19.707 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
15:33:19.707 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
15:33:19.708 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
15:33:19.708 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
15:33:19.709 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
15:33:19.709 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
15:33:19.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
15:33:19.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
15:33:19.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
15:33:19.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
15:33:19.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
15:33:19.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
15:33:19.713 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
15:33:19.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
15:33:19.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
15:33:19.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
15:33:19.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
15:33:19.716 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
15:33:19.716 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
15:33:19.717 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
15:33:19.717 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
15:33:19.717 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
15:33:19.718 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
15:33:19.718 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725], "dvl_location": [1.3305, 0.0, 0.0176], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "gps_location": [0.93573, 0.00255, -0.17048]})
15:33:19.718 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
15:33:19.718 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
15:33:19.718 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 }
15:33:19.718 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
15:33:19.718 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 59736
15:33:19.719 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
15:33:19.719 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
15:33:19.719 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
15:33:19.719 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 }
15:33:19.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
15:33:19.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 59737
15:33:19.749 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
15:33:19.999 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
15:33:19.999 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
15:33:19.999 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 }
15:33:19.999 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
15:33:19.999 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
15:33:19.999 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 59740
15:33:20.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
15:33:20.001 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
15:33:20.001 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 }
15:33:20.001 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
15:33:20.001 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 59742
15:33:20.001 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
15:33:20.004 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
15:33:20.004 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 }
15:33:20.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
15:33:20.004 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
15:33:20.004 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
15:33:20.004 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
15:33:20.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 59780
15:33:20.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
15:33:20.005 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
15:33:20.005 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
15:33:20.005 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
15:33:20.006 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
15:33:20.006 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 }
15:33:20.006 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
15:33:20.006 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
15:33:20.006 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 }
15:33:20.006 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 59785
15:33:20.006 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
15:33:20.006 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
15:33:20.006 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 }
15:33:20.006 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 59786
15:33:20.006 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
15:33:20.006 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 59787
15:33:20.020 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
15:33:20.020 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
15:33:20.026 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
15:33:20.026 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
15:33:20.027 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
15:33:20.028 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 }
15:33:20.028 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
15:33:20.028 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 59789
15:33:20.028 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
15:33:20.028 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
15:33:20.028 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
15:33:20.029 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces
15:33:20.030 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
15:33:20.271 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
15:33:20.271 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {}
15:33:20.271 INFO  [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings
15:33:20.280 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
15:33:20.281 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
15:33:25.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
15:33:25.140 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: 'surveyArea')
15:33:28.075 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
15:33:28.081 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
15:33:28.097 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a Upright task 'Upright task'
15:33:28.155 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
15:33:28.156 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 34a89d39-cc6a-4726-9881-bba0f82aaeba, 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 }) })]
15:33:28.156 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 34a89d39-cc6a-4726-9881-bba0f82aaeba, 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 }) })]
15:33:28.166 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:33:28.166 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: 922b395b-62dd-4eba-997a-e038ee882202)"), mode: None }
15:33:28.166 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 34a89d39-cc6a-4726-9881-bba0f82aaeba, start_time: Some(8.16 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)
15:33:28.166 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-28_Upright task/2025-08-23_15-33-28_Upright task_rust.log"
15:33:28.166 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-33-28_Upright task
15:33:28.191 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 34a89d39-cc6a-4726-9881-bba0f82aaeba, start_time: Some(8.16 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)
15:33:28.191 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:33:28.191 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: 0.5459455773274228 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
15:33:28.196 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
15:33:28.196 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
15:33:28.196 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SurveyArea task 'surveyArea'
15:33:28.197 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 34a89d39-cc6a-4726-9881-bba0f82aaeba, start_time: Some(8.16 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 }) })
15:33:28.256 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
15:33:28.256 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
15:33:28.257 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
15:33:28.259 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-23_15-33-28_Upright task")
15:33:28.260 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:33:28.260 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-28_surveyArea/2025-08-23_15-33-28_surveyArea_rust.log"
15:33:28.260 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-33-28_surveyArea
15:33:28.260 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 9fe9175d-54ea-4835-8516-90a5482cc7e3)"), mode: None }
15:33:28.297 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:33:28.297 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: 0.5398801485360855 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
15:33:28.297 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: -0.9987869140451657 m^1. Interpolating depth and velocity.
15:33:28.297 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(0.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -0.9545886966615216 m^1, east: 0.1462574575471468 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -0.9545886966615216 m^1, east: 0.1462574575471468 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 0.4000000059604645 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
15:33:28.297 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:33:28.297 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing)
15:33:28.317 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:33:30.307 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.19747746887058337, Enable control depth: 0.2, Depth control enabled: true
15:33:30.307 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
15:33:32.315 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: -0.9999992135223637 m^1. Interpolating depth and velocity.
15:33:36.330 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: -0.999521253299624 m^1. Interpolating depth and velocity.
15:33:39.221 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20478861885280808, Enable control depth: 0.2, Depth control enabled: false
15:33:39.221 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller
15:33:40.346 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: -0.9962297214017899 m^1. Interpolating depth and velocity.
15:33:40.768 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
15:33:44.362 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: -1.0013845080179862 m^1. Interpolating depth and velocity.
15:33:44.844 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -0.9545886966615216 m^1, east: 0.1462574575471468 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 1.084472626146744 m^1, east: 0.1462574575471468 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 1.0844726335973245 m^1, east: -0.7138782370065748 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -0.9545886966615216 m^1, east: -0.7138782370065748 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }]
15:33:44.844 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:33:44.844 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:33:44.864 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:33:44.964 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:44.964 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-28_surveyArea/photos/mocked_image_0.raw"
15:33:44.985 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:45.065 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:45.165 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:45.265 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:45.366 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:45.466 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:45.566 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:45.667 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:45.767 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:45.868 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:45.968 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:46.069 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:46.169 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:46.269 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:46.370 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:46.470 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:46.571 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:46.671 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:46.772 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:46.872 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:46.872 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:33:46.892 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:33:46.973 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:46.973 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-28_surveyArea/photos/mocked_image_20.raw"
15:33:47.073 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:47.173 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:47.274 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:47.374 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:47.474 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:47.575 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:47.675 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:47.775 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:47.875 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:47.976 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:48.076 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:48.176 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:48.277 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:48.377 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:48.478 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:48.578 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:48.678 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:48.779 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:48.879 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:48.899 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:33:48.919 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:33:48.979 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:48.980 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-28_surveyArea/photos/mocked_image_40.raw"
15:33:49.080 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:49.180 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:49.281 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:49.381 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:49.482 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:49.582 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:49.682 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:49.783 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:49.883 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:49.984 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:50.004 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:50.084 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:50.185 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:50.285 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:50.385 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:50.486 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:50.586 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:50.687 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:50.787 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:50.888 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:50.928 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:33:50.948 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:33:50.988 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:50.989 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-28_surveyArea/photos/mocked_image_60.raw"
15:33:51.089 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:51.189 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:51.289 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:51.390 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:51.490 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:51.591 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:51.691 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:51.791 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:51.892 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:51.992 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:52.093 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:52.193 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:52.293 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:52.394 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:52.494 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:52.595 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:52.695 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:52.796 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:52.896 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:52.977 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:33:52.997 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:52.997 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:33:52.997 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-28_surveyArea/photos/mocked_image_80.raw"
15:33:53.097 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:53.197 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:53.298 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:53.399 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:53.499 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:53.599 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:53.700 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:53.800 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:53.900 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:54.001 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:54.101 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:54.202 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:54.302 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:54.402 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:54.503 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:54.603 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:54.704 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:54.804 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:54.904 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:55.005 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:55.005 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-28_surveyArea/photos/mocked_image_100.raw"
15:33:55.005 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:33:55.025 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:33:55.025 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:55.105 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:55.205 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:55.286 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
15:33:55.306 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:55.406 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:55.507 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:55.607 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:55.707 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:55.808 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:55.909 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:56.009 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:56.109 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:56.210 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:56.311 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:56.411 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:56.511 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:56.612 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:56.712 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:56.812 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:56.913 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:57.013 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:57.014 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-28_surveyArea/photos/mocked_image_120.raw"
15:33:57.033 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:33:57.053 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:33:57.114 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:57.214 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:57.314 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:57.415 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:57.515 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:57.615 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:57.716 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:57.816 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:57.917 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:58.017 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:58.118 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:58.218 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:58.319 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:58.418 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:58.519 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:58.620 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:58.720 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:58.821 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:58.920 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:59.022 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:59.022 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-28_surveyArea/photos/mocked_image_140.raw"
15:33:59.062 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:33:59.082 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:33:59.122 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:59.223 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:59.323 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:59.423 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:59.523 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:59.624 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:59.724 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:59.824 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:33:59.925 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:00.025 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:00.045 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:00.126 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:00.226 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:00.326 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:00.427 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:00.527 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:00.627 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:00.728 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:00.809 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
15:34:00.828 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:00.929 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:01.029 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:01.029 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-28_surveyArea/photos/mocked_image_160.raw"
15:34:01.109 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:34:01.129 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:01.129 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:34:01.230 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:01.330 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:01.431 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:01.531 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:01.632 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:01.732 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:01.832 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:01.932 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:02.033 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:02.133 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:02.234 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:02.334 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:02.435 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:02.535 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:02.635 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:02.736 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:02.836 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:02.937 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:03.037 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:03.037 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-28_surveyArea/photos/mocked_image_180.raw"
15:34:03.137 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:03.137 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:34:03.158 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:34:03.238 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:03.338 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:03.439 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:03.539 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:03.639 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:03.740 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:03.840 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:03.941 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:04.041 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:04.141 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:04.241 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:04.342 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:04.442 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:04.542 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:04.643 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:04.643 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
15:34:04.743 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:04.844 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:04.944 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:05.044 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:05.044 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-28_surveyArea/photos/mocked_image_200.raw"
15:34:05.065 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:05.145 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:05.165 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:34:05.185 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:34:05.245 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:05.346 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:05.446 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:05.546 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:05.647 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:05.747 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:05.848 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:05.948 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:06.048 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:06.149 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:06.249 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:06.350 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:06.450 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:06.550 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:06.651 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:06.751 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:06.851 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:06.952 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:07.052 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:07.052 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-28_surveyArea/photos/mocked_image_220.raw"
15:34:07.153 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:07.193 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:34:07.213 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:34:07.253 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:07.353 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:07.454 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:07.554 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:07.655 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:07.755 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:07.855 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:07.956 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:08.057 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:08.157 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:08.257 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:08.357 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:08.458 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:08.558 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:08.659 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:08.759 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:08.859 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:08.960 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:09.060 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:09.060 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-33-28_surveyArea/photos/mocked_image_240.raw"
15:34:09.160 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:09.241 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:34:09.261 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:09.261 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:34:09.361 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:09.462 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:09.562 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:09.662 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:09.763 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:09.863 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:09.964 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:10.064 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:10.085 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:10.164 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:10.265 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:34:10.285 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
15:34:10.305 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished)
15:34:10.305 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:34:10.325 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120862447518 0.07626893640277824,0.9084123998159404 0.07626893640277824,0.9084123998159404 0.07626944627586066,0.9084120862447518 0.07626944627586066,0.9084120862447518 0.07626893640277824)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:34:10.325 WARN  [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now
15:34:10.345 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:45] Camera trigger responder stopped: RecvError
15:34:10.346 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
15:34:10.346 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) }))]
15:34:10.346 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Started)
15:34:10.346 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:34:10.346 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) }))]
15:34:10.346 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: d2528356-d98d-47cf-9d7a-224cca2e402c)"), mode: None }
15:34:10.346 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-23_15-33-28_surveyArea")
15:34:10.347 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-10_waiting, hold position/2025-08-23_15-34-10_waiting, hold position_rust.log"
15:34:10.347 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-34-10_waiting, hold position
15:34:10.347 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position'
15:34:10.366 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.876253777736391 m^1, east: -0.7642419948556417 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 } }]
15:34:10.366 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: -0.9999953954825798 m^1. Interpolating depth and velocity.
15:34:10.366 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) })
15:34:10.366 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)
15:34:10.386 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) }))
15:34:14.381 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: -0.9949972087381083 m^1. Interpolating depth and velocity.
15:34:14.702 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.19792100838660032, Enable control depth: 0.2, Depth control enabled: true
15:34:14.703 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
15:34:15.767 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.876253777736391 m^1, east: -0.7642419948556417 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) } }]
15:34:15.767 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:34:15.767 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) })
15:34:15.787 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) }))
15:34:15.807 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)
15:34:15.807 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) })
15:34:15.827 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Hold(HoldGoal { time: 0.0 s^1, location: Depth(0.0 m^1) }))
15:34:15.827 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) })), Started)
15:34:15.847 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Started for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:34:15.867 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.8901589886759622 m^1, east: -0.7934362627079965 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 } }]
15:34:15.868 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Preparing)
15:34:15.868 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) })
15:34:15.887 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:34:15.907 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.8901589886759622 m^1, east: -0.7934362627079965 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) } }]
15:34:15.907 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:34:15.907 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })
15:34:15.927 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:34:17.935 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:34:17.955 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:34:18.397 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: -0.9997928021565117 m^1. Interpolating depth and velocity.
15:34:19.983 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:34:20.003 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:34:22.011 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:34:22.032 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) }))
15:34:22.413 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: -0.9993296294929426 m^1. Interpolating depth and velocity.
15:34:24.039 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:34:24.039 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:34:26.068 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:34:26.088 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:34:26.429 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: -0.9984536900902032 m^1. Interpolating depth and velocity.
15:34:28.117 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)
15:34:28.137 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) }))
15:34:30.145 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)
15:34:30.165 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) }))
15:34:30.446 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: -0.9973466991950444 m^1. Interpolating depth and velocity.
15:34:32.173 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:34:32.193 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:34:34.207 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:34:34.227 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:34:34.454 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: -0.9962662048249045 m^1. Interpolating depth and velocity.
15:34:35.839 INFO  [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator()
15:34:35.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
15:34:35.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
15:34:36.017 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
15:34:36.057 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
15:34:36.114 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
15:34:37.819 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping...
15:34:37.820 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped
15:34:37.821 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'state_estimator'
15:34:37.821 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'control'
15:34:37.821 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'control'
15:34:37.821 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'simulator'
15:34:37.821 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'simulator'
15:34:37.821 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'path_planner'
15:34:42.747 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
15:34:42.747 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-23 15:34:42.747923321 +02:00
15:34:42.747 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
15:34:42.748 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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_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/2025-08-23_simulated_scout/2025-08-23_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
15:34:42.748 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
15:34:42.748 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-42_simulated_scout.lobsterlog")
15:34:42.754 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
15:34:43.066 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595]})
15:34:43.066 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
15:34:43.068 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: 2.0, 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] }
15:34:43.124 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595]})
15:34:43.125 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
15:34:43.906 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595]})
15:34:43.906 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
15:34:43.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
15:34:43.907 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
15:34:43.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
15:34:43.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
15:34:43.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
15:34:43.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
15:34:43.910 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
15:34:43.911 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
15:34:43.911 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
15:34:43.911 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
15:34:43.911 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
15:34:43.911 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595]})
15:34:43.911 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
15:34:43.911 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
15:34:43.912 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
15:34:43.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
15:34:43.913 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
15:34:43.913 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 }
15:34:43.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
15:34:43.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 60645
15:34:43.914 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
15:34:43.914 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
15:34:43.914 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
15:34:43.914 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
15:34:43.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
15:34:43.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
15:34:43.916 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
15:34:43.916 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
15:34:43.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
15:34:43.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
15:34:43.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
15:34:43.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
15:34:43.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
15:34:43.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
15:34:43.921 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
15:34:43.921 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
15:34:43.922 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
15:34:43.922 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
15:34:43.923 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
15:34:43.923 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
15:34:43.924 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
15:34:43.924 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
15:34:43.925 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
15:34:43.925 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
15:34:43.926 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
15:34:43.926 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
15:34:43.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
15:34:43.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
15:34:43.928 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
15:34:43.929 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595]})
15:34:43.929 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
15:34:43.929 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
15:34:43.929 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 }
15:34:43.929 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
15:34:43.929 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 60674
15:34:43.929 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
15:34:43.929 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
15:34:43.929 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
15:34:43.929 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 }
15:34:43.929 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
15:34:43.929 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 60675
15:34:43.960 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
15:34:44.183 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
15:34:44.183 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
15:34:44.183 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 }
15:34:44.183 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
15:34:44.183 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
15:34:44.183 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 60678
15:34:44.184 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
15:34:44.185 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
15:34:44.185 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 }
15:34:44.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
15:34:44.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 60680
15:34:44.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
15:34:44.187 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
15:34:44.188 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 }
15:34:44.188 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
15:34:44.188 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
15:34:44.188 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
15:34:44.188 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 60718
15:34:44.188 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
15:34:44.188 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
15:34:44.188 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
15:34:44.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
15:34:44.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
15:34:44.190 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
15:34:44.190 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 }
15:34:44.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
15:34:44.190 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
15:34:44.190 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 }
15:34:44.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 60723
15:34:44.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
15:34:44.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 60724
15:34:44.190 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
15:34:44.190 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 }
15:34:44.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
15:34:44.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 60725
15:34:44.203 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
15:34:44.204 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
15:34:44.211 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
15:34:44.211 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
15:34:44.212 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
15:34:44.212 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 }
15:34:44.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
15:34:44.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 60727
15:34:44.212 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
15:34:44.212 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
15:34:44.212 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
15:34:44.213 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces
15:34:44.213 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"]
15:34:44.454 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
15:34:44.455 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:87] Applying setting overwrites: Object {}
15:34:44.455 INFO  [robot_code/utilities/settings/src/settings/mod.rs:89] Applied setting overwrite profile 'device_settings'. Description: Device specific settings
15:34:44.464 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
15:34:44.465 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
15:34:47.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
15:34:47.584 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: 'surveyArea')
15:34:49.430 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
15:34:49.431 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
15:34:49.450 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a Upright task 'Upright task'
15:34:49.491 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
15:34:49.491 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [DirectControl(ControlGoalWithMeta { id: 812b0c43-a5cb-43c6-9ec3-88be2f0ceb99, 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 }) })]
15:34:49.491 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 812b0c43-a5cb-43c6-9ec3-88be2f0ceb99, 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 }) })]
15:34:49.491 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:34:49.491 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 812b0c43-a5cb-43c6-9ec3-88be2f0ceb99, start_time: Some(5.32 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)
15:34:49.491 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: cbfa9e3b-024a-4eac-a046-6233274c885f)"), mode: None }
15:34:49.492 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_Upright task/2025-08-23_15-34-49_Upright task_rust.log"
15:34:49.492 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-34-49_Upright task
15:34:49.531 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 812b0c43-a5cb-43c6-9ec3-88be2f0ceb99, start_time: Some(5.32 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)
15:34:49.531 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:34:49.531 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: 0.716985793134773 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
15:34:49.551 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 812b0c43-a5cb-43c6-9ec3-88be2f0ceb99, start_time: Some(5.32 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 }) })
15:34:49.551 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SurveyArea task 'surveyArea'
15:34:49.571 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
15:34:49.571 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
15:34:49.571 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
15:34:49.591 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
15:34:49.591 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
15:34:49.591 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
15:34:49.591 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:34:49.591 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 952ea42a-d810-4ae8-95ab-cdcd73ef9cf1)"), mode: None }
15:34:49.591 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-23_15-34-49_Upright task")
15:34:49.592 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_surveyArea/2025-08-23_15-34-49_surveyArea_rust.log"
15:34:49.592 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-34-49_surveyArea
15:34:49.633 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:34:49.633 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 4.682967825210351e-24 m^1, east: 1.87096792629662e-25 m^1, down: 0.7112846542447379 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
15:34:49.633 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: -0.9989003529485623 m^1. Interpolating depth and velocity.
15:34:49.633 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(0.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -0.939608613524459 m^1, east: -0.08762082130420024 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -0.939608613524459 m^1, east: -0.08762082130420024 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 0.4000000059604645 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
15:34:49.633 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing)
15:34:49.633 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:34:49.651 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:34:52.503 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.19509427352827924, Enable control depth: 0.2, Depth control enabled: true
15:34:52.503 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
15:34:53.647 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: -0.9963246750333368 m^1. Interpolating depth and velocity.
15:34:57.662 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: -0.9996274263037801 m^1. Interpolating depth and velocity.
15:35:00.715 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20388680983618945, Enable control depth: 0.2, Depth control enabled: false
15:35:00.715 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller
15:35:01.678 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: -0.9977741380086385 m^1. Interpolating depth and velocity.
15:35:02.260 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
15:35:05.696 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: -1.0016607207191282 m^1. Interpolating depth and velocity.
15:35:06.299 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -0.939608613524459 m^1, east: -0.08762082130420024 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 1.0994527316355485 m^1, east: -0.08762082130420024 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 1.099452739086129 m^1, east: 0.7725148732495214 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -0.9396086060738784 m^1, east: 0.7725148732495214 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }]
15:35:06.299 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:35:06.299 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:35:06.319 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:35:06.379 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:06.379 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_surveyArea/photos/mocked_image_0.raw"
15:35:06.399 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:06.480 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:06.580 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:06.680 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:06.781 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:06.881 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:06.981 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:07.082 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:07.182 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:07.283 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:07.384 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:07.484 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:07.584 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:07.685 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:07.785 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:07.885 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:07.986 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:08.086 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:08.187 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:08.287 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:08.327 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:35:08.347 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:35:08.388 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:08.388 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_surveyArea/photos/mocked_image_20.raw"
15:35:08.488 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:08.588 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:08.689 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:08.790 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:08.890 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:08.990 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:09.091 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:09.191 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:09.292 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:09.392 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:09.493 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:09.593 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:09.693 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:09.794 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:09.894 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:09.995 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:10.095 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:10.195 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:10.296 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:10.356 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:35:10.376 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:35:10.396 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:10.396 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_surveyArea/photos/mocked_image_40.raw"
15:35:10.497 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:10.597 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:10.698 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:10.798 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:10.899 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:10.999 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:11.099 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:11.200 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:11.301 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:11.401 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:11.421 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:11.502 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:11.602 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:11.702 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:11.803 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:11.904 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:12.004 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:12.104 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:12.205 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:12.305 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:12.386 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:35:12.406 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:35:12.406 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:12.406 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_surveyArea/photos/mocked_image_60.raw"
15:35:12.506 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:12.607 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:12.707 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:12.808 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:12.908 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:13.009 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:13.109 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:13.210 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:13.311 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:13.411 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:13.511 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:13.612 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:13.712 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:13.814 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:13.914 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:14.014 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:14.115 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:14.215 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:14.315 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:14.416 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:14.416 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_surveyArea/photos/mocked_image_80.raw"
15:35:14.436 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:35:14.456 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:35:14.516 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:14.617 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:14.717 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:14.818 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:14.918 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:15.019 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:15.119 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:15.220 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:15.320 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:15.421 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:15.521 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:15.622 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:15.722 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:15.823 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:15.923 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:16.024 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:16.124 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:16.225 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:16.325 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:16.426 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:16.426 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_surveyArea/photos/mocked_image_100.raw"
15:35:16.446 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:16.466 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:35:16.486 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:35:16.526 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:16.627 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:16.727 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:16.828 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:16.928 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:16.948 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
15:35:17.029 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:17.130 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:17.230 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:17.330 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:17.431 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:17.531 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:17.632 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:17.732 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:17.833 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:17.933 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:18.034 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:18.134 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:18.234 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:18.335 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:18.435 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:18.435 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_surveyArea/photos/mocked_image_120.raw"
15:35:18.496 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:35:18.516 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:35:18.536 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:18.636 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:18.737 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:18.837 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:18.938 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:19.038 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:19.138 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:19.239 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:19.339 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:19.440 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:19.540 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:19.641 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:19.741 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:19.841 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:19.942 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:20.042 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:20.143 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:20.243 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:20.344 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:20.445 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:20.445 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_surveyArea/photos/mocked_image_140.raw"
15:35:20.525 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:35:20.545 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:20.545 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:35:20.645 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:20.746 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:20.846 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:20.947 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:21.047 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:21.148 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:21.248 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:21.349 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:21.449 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:21.469 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:21.550 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:21.650 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:21.751 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:21.851 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:21.952 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:22.052 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:22.153 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:22.253 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:22.354 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:22.454 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:22.454 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_surveyArea/photos/mocked_image_160.raw"
15:35:22.474 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
15:35:22.554 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:22.575 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:35:22.595 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:35:22.655 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:22.755 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:22.856 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:22.957 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:23.057 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:23.158 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:23.258 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:23.358 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:23.458 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:23.559 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:23.659 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:23.760 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:23.860 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:23.961 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:24.061 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:24.162 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:24.262 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:24.363 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:24.463 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:24.463 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_surveyArea/photos/mocked_image_180.raw"
15:35:24.564 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:24.604 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:35:24.624 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:35:24.664 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:24.765 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:24.865 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:24.966 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:25.066 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:25.166 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:25.267 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:25.367 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:25.468 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:25.568 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:25.669 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:25.769 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:25.870 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:25.970 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:26.071 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:26.171 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:26.272 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:26.372 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:26.472 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:26.472 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_surveyArea/photos/mocked_image_200.raw"
15:35:26.492 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:26.573 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:26.633 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:35:26.653 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:35:26.673 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:26.774 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:26.874 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:26.894 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
15:35:26.974 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:27.075 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:27.175 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:27.275 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:27.376 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:27.476 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:27.577 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:27.677 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:27.778 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:27.878 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:27.979 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:28.079 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:28.180 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:28.280 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:28.381 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:28.482 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:28.482 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_surveyArea/photos/mocked_image_220.raw"
15:35:28.582 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:28.663 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:35:28.683 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:28.683 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:35:28.783 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:28.884 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:28.984 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:29.084 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:29.185 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:29.286 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:29.386 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:29.487 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:29.587 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:29.687 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:29.788 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:29.888 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:29.989 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:30.089 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:30.189 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:30.290 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:30.390 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:30.491 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:30.491 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_surveyArea/photos/mocked_image_240.raw"
15:35:30.591 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:30.692 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:30.712 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:35:30.732 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:35:30.792 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:30.892 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:30.993 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:31.093 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:31.194 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:31.294 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:31.395 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:31.495 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:31.515 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:31.596 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:31.696 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:31.796 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:31.897 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:31.997 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:32.098 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:32.198 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:32.299 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:32.399 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:32.500 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:32.500 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-34-49_surveyArea/photos/mocked_image_260.raw"
15:35:32.540 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
15:35:32.560 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished)
15:35:32.560 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:35:32.580 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120885944962 0.07626895932716879,0.9084124021656848 0.07626895932716879,0.9084124021656848 0.0762694692002521,0.9084120885944962 0.0762694692002521,0.9084120885944962 0.07626895932716879)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:35:32.580 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
15:35:32.580 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
15:35:32.580 WARN  [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now
15:35:32.600 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:35:32.600 INFO  [robot_code/peripherals/payload/src/position_camera.rs:223] Stopping PositionCamera recording, because receiver stopped
15:35:32.600 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:45] Camera trigger responder stopped: RecvError
15:35:32.620 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
15:35:32.621 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)
15:35:32.621 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:35:32.621 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) }))]
15:35:32.621 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: a8adc8b9-af38-4711-b809-4ab5c5c87af1)"), mode: None }
15:35:32.621 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-23_15-34-49_surveyArea")
15:35:32.621 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) }))]
15:35:32.621 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-35-32_waiting, hold position/2025-08-23_15-35-32_waiting, hold position_rust.log"
15:35:32.621 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-35-32_waiting, hold position
15:35:32.621 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position'
15:35:32.651 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:35:32.651 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.868929802518844 m^1, east: 0.8190336199333113 m^1, down: 1.0027750708126195 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
15:35:32.651 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.868929802518844 m^1, east: 0.8190336199333113 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 } }]
15:35:32.651 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)
15:35:32.651 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: -0.9999080501377491 m^1. Interpolating depth and velocity.
15:35:32.651 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) })
15:35:32.661 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) }))
15:35:36.662 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: -0.994895856023124 m^1. Interpolating depth and velocity.
15:35:36.964 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.19788445248311914, Enable control depth: 0.2, Depth control enabled: true
15:35:36.964 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
15:35:37.990 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.868929802518844 m^1, east: 0.8190336199333113 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) } }]
15:35:37.990 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)
15:35:37.990 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) })
15:35:38.010 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) }))
15:35:38.051 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)
15:35:38.051 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) })
15:35:38.070 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) }))
15:35:38.071 DEBUG [robot_code/robot_core/path_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)
15:35:38.091 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) }))
15:35:38.091 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.8601603204312388 m^1, east: 0.8191342437733303 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 } }]
15:35:38.091 DEBUG [robot_code/robot_core/path_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)
15:35:38.091 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) })
15:35:38.111 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) }))
15:35:38.151 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -0.8601603204312388 m^1, east: 0.8191342437733303 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) } }]
15:35:38.151 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:35:38.151 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) })
15:35:38.171 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:35:40.182 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:35:40.201 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:35:40.664 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: -0.999791872110205 m^1. Interpolating depth and velocity.
15:35:42.214 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:35:42.234 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:35:44.244 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)
15:35:44.265 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:35:44.687 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: -0.9993326203160748 m^1. Interpolating depth and velocity.
15:35:46.296 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)
15:35:46.317 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) }))
15:35:48.327 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:35:48.347 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:35:48.710 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: -0.9984529417028756 m^1. Interpolating depth and velocity.
15:35:49.494 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
15:35:49.494 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:142] Received request while active: AddTask(SurveyArea: 'surveyArea')
15:35:49.515 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:528] Cancelling goals: [Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
15:35:49.515 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-23_15-35-32_waiting, hold position")
15:35:49.515 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
15:35:49.515 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
15:35:49.515 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SurveyArea task 'surveyArea'
15:35:49.555 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
15:35:49.555 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:517] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
15:35:49.555 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
15:35:49.555 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 12552483-c284-4893-9c80-3003fcc4b30f)"), mode: None }
15:35:49.555 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:35:49.555 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
15:35:49.556 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-35-49_surveyArea/2025-08-23_15-35-49_surveyArea_rust.log"
15:35:49.556 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-35-49_surveyArea
15:35:49.585 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.1131893890317971, Enable control depth: 0.2, Depth control enabled: true
15:35:49.585 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
15:35:49.585 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -0.8523141073723705 m^1, east: 0.8190953556382242 m^1, down: 0.1131893890317971 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
15:35:49.585 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:35:49.586 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(0.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -1.389011526331394 m^1, east: 0.8971716840956322 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: -1.389011526331394 m^1, east: 0.8971716840956322 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 0.4000000059604645 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
15:35:49.586 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:35:49.586 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing)
15:35:49.595 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:35:52.732 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: -0.9998562998870968 m^1. Interpolating depth and velocity.
15:35:56.750 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: -0.9993451983609787 m^1. Interpolating depth and velocity.
15:36:00.467 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.2044809084540835, Enable control depth: 0.2, Depth control enabled: false
15:36:00.467 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller
15:36:00.768 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: -1.0010140606925972 m^1. Interpolating depth and velocity.
15:36:02.014 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
15:36:04.807 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -1.389011526331394 m^1, east: 0.8971716840956322 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 0.6500500497966122 m^1, east: 0.8971716840956322 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 0.6500499156861614 m^1, east: 0.03703598954191056 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -1.3890115710348776 m^1, east: 0.03703598954191056 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }]
15:36:04.807 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:36:04.807 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:399] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:36:04.827 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:36:04.927 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:04.928 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-35-49_surveyArea/photos/mocked_image_0.raw"
15:36:04.947 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:05.028 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:05.128 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:05.229 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:05.330 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:05.430 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:05.530 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:05.631 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:05.731 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:05.832 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:05.932 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:06.032 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:06.133 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:06.233 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:06.334 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:06.434 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:06.534 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:06.635 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:06.735 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:06.836 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:06.836 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:36:06.856 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:36:06.936 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:06.936 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-35-49_surveyArea/photos/mocked_image_20.raw"
15:36:07.037 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:07.137 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:07.237 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:07.338 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:07.438 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:07.539 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:07.639 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:07.740 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:07.840 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:07.941 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:08.041 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:08.142 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:08.242 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:08.342 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:08.443 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:08.543 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:08.644 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:08.745 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:08.845 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:08.865 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:36:08.885 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:36:08.945 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:08.946 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-35-49_surveyArea/photos/mocked_image_40.raw"
15:36:09.046 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:09.146 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:09.247 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:09.348 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:09.448 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:09.548 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:09.649 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:09.749 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:09.849 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:09.950 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:09.970 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:10.050 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:10.151 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:10.252 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:10.352 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:10.452 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:10.552 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:10.653 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:10.753 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:10.854 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:10.914 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:36:10.934 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:36:10.954 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:10.954 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-35-49_surveyArea/photos/mocked_image_60.raw"
15:36:11.054 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:11.155 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:11.255 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:11.356 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:11.456 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:11.557 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:11.657 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:11.757 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:11.858 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:11.959 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:12.059 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:12.159 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:12.259 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:12.360 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:12.460 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:12.560 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:12.661 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:12.761 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:12.862 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:12.942 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:36:12.962 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:12.962 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-35-49_surveyArea/photos/mocked_image_80.raw"
15:36:12.962 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:36:13.062 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:13.163 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:13.263 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:13.364 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:13.464 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:13.564 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:13.665 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:13.765 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:13.865 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:13.966 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:14.066 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:14.167 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:14.267 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:14.367 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:14.468 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:14.568 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:14.668 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:14.769 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:14.869 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:14.969 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:14.969 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-35-49_surveyArea/photos/mocked_image_100.raw"
15:36:14.970 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:36:14.990 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:36:14.990 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:15.070 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:15.170 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:15.251 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
15:36:15.271 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:15.371 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:15.471 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:15.572 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:15.672 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:15.772 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:15.873 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:15.973 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:16.074 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:16.174 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:16.274 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:16.375 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:16.475 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:16.575 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:16.676 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:16.776 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:16.877 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:16.977 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:16.977 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-35-49_surveyArea/photos/mocked_image_120.raw"
15:36:16.997 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:36:17.017 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:36:17.077 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:17.178 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:17.278 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:17.378 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:17.479 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:17.579 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:17.680 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:17.780 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:17.881 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:17.981 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:18.082 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:18.182 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:18.283 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:18.383 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:18.484 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:18.584 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:18.684 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:18.785 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:18.885 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:18.986 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:18.986 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-35-49_surveyArea/photos/mocked_image_140.raw"
15:36:19.046 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:36:19.066 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:36:19.086 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:19.187 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:19.288 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:19.388 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:19.488 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:19.589 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:19.689 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:19.790 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:19.890 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:19.990 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:20.011 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:20.091 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:20.191 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:20.292 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:20.392 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:20.493 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:20.593 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:20.693 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:20.754 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
15:36:20.794 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:20.894 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:20.995 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:20.995 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-35-49_surveyArea/photos/mocked_image_160.raw"
15:36:21.075 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:36:21.095 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:21.095 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:36:21.195 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:21.296 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:21.396 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:21.497 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:21.597 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:21.698 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:21.798 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:21.899 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:21.999 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:22.099 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:22.200 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:22.300 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:22.401 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:22.501 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:22.602 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:22.702 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:22.803 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:22.903 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:23.003 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:23.004 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-35-49_surveyArea/photos/mocked_image_180.raw"
15:36:23.104 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:23.104 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:36:23.124 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:36:23.204 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:23.305 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:23.406 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:23.506 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:23.607 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:23.707 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:23.807 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:23.908 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:24.008 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:24.109 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:24.209 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:24.310 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:24.410 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:24.510 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:24.615 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:24.675 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
15:36:24.715 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:24.815 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:24.916 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:25.016 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:25.017 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-35-49_surveyArea/photos/mocked_image_200.raw"
15:36:25.036 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:25.117 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:25.137 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:36:25.157 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:36:25.217 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:25.318 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:25.421 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:25.521 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:25.622 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:25.722 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:25.822 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:25.923 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:26.023 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:26.124 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:26.224 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:26.325 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:26.425 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:26.525 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:26.626 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:26.726 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:26.827 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:26.927 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:27.028 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:27.029 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-35-49_surveyArea/photos/mocked_image_220.raw"
15:36:27.129 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:27.189 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:36:27.209 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:36:27.229 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:27.330 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:27.430 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:27.531 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:27.631 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:27.731 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:27.832 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:27.932 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:28.033 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:28.133 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:28.233 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:28.334 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:28.434 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:28.535 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:28.635 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:28.736 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:28.836 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:28.936 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:29.037 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:29.037 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:30] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-35-49_surveyArea/photos/mocked_image_240.raw"
15:36:29.137 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:29.218 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
15:36:29.238 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:29.238 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:36:29.338 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:29.439 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:29.539 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:29.640 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:29.740 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:29.841 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:29.941 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:30.042 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:30.061 WARN  [robot_code/peripherals/payload/src/payload.rs:62] Payload in temporary error: Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:30.142 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:30.242 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:30.323 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
15:36:30.343 DEBUG [robot_code/peripherals/payload/src/position_camera.rs:274] Failed to trigger camera: TriggeredTooFast { allowed_fps: 1.0, actual_fps: 2.0, next_trigger_time: 0.5 }
15:36:30.343 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:511] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
15:36:30.343 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished)
15:36:30.363 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084120181021624 0.07626912743938943,0.908412331673351 0.07626912743938943,0.908412331673351 0.07626963731242745,0.9084120181021624 0.07626963731242745,0.9084120181021624 0.07626912743938943)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
15:36:30.364 WARN  [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now
15:36:30.364 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
15:36:30.364 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
15:36:30.383 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:45] Camera trigger responder stopped: RecvError
15:36:30.403 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
15:36:30.403 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) }))]
15:36:30.403 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) }))]
15:36:30.404 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)
15:36:30.404 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
15:36:30.404 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: ecbabe2e-bbc4-4896-b836-848537120a09)"), mode: None }
15:36:30.404 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-23_15-35-49_surveyArea")
15:36:30.405 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-23_simulated_scout/2025-08-23_15-36-30_waiting, hold position/2025-08-23_15-36-30_waiting, hold position_rust.log"
15:36:30.405 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-23_15-36-30_waiting, hold position
15:36:30.405 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position'
15:36:30.434 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
15:36:30.434 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -1.313871068682464 m^1, east: -0.015385181829322596 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 } }]
15:36:30.434 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -1.313871068682464 m^1, east: -0.015385181829322596 m^1, down: 1.00343751265997 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
15:36:30.434 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) })
15:36:30.434 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: -0.999907089415252 m^1. Interpolating depth and velocity.
15:36:30.434 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)
15:36:30.444 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) }))
15:36:34.446 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: -0.9948990967079689 m^1. Interpolating depth and velocity.
15:36:34.748 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.19941762118479467, Enable control depth: 0.2, Depth control enabled: true
15:36:34.748 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
15:36:35.794 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -1.313871068682464 m^1, east: -0.015385181829322596 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) } }]
15:36:35.794 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) })
15:36:35.794 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)
15:36:35.813 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) }))
15:36:35.854 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)
15:36:35.854 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) })
15:36:35.874 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) }))
15:36:35.874 DEBUG [robot_code/robot_core/path_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)
15:36:35.894 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) }))
15:36:35.894 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -1.3046737065016045 m^1, east: -0.015221995418222828 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 } }]
15:36:35.894 DEBUG [robot_code/robot_core/path_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)
15:36:35.894 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) })
15:36:35.914 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) }))
15:36:35.954 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:396] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: -1.3046737065016045 m^1, east: -0.015221995418222828 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) } }]
15:36:35.955 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:36:35.955 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) })
15:36:35.975 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:36:37.985 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:36:38.005 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:36:38.448 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: -0.9997933504879346 m^1. Interpolating depth and velocity.
15:36:40.016 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:36:40.036 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:36:42.065 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:36:42.085 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:36:42.467 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: -0.9993295381835692 m^1. Interpolating depth and velocity.
15:36:44.095 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:36:44.116 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:36:46.127 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:36:46.147 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:36:46.488 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: -0.9984534161789624 m^1. Interpolating depth and velocity.
15:36:48.157 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:36:48.176 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:36:50.206 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:36:50.227 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:36:50.508 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: -0.9973464752322001 m^1. Interpolating depth and velocity.
15:36:52.237 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:36:52.257 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:36:54.273 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:36:54.292 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:36:54.533 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: -0.9962611073967049 m^1. Interpolating depth and velocity.
15:36:56.301 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:36:56.321 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:36:58.352 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:36:58.372 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:36:58.553 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: -0.9953428421983208 m^1. Interpolating depth and velocity.
15:37:00.383 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:00.403 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:02.413 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:02.433 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:02.574 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: -0.9946332179130781 m^1. Interpolating depth and velocity.
15:37:04.443 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:04.463 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:06.494 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:06.514 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:06.595 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: -0.9941050613856164 m^1. Interpolating depth and velocity.
15:37:08.524 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:08.544 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:10.555 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:10.576 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:10.617 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: -0.9937305563835621 m^1. Interpolating depth and velocity.
15:37:12.609 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:12.629 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:14.619 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: -0.993471107214877 m^1. Interpolating depth and velocity.
15:37:14.659 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:14.679 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:16.689 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:16.689 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) }))
15:37:18.620 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: -0.9932908670815239 m^1. Interpolating depth and velocity.
15:37:18.721 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:18.741 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:20.752 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:20.772 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:22.622 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: -0.9932313156491195 m^1. Interpolating depth and velocity.
15:37:22.804 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:22.824 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:24.835 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:24.855 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:26.625 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: -0.9932312271557406 m^1. Interpolating depth and velocity.
15:37:26.866 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:26.886 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:28.898 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:28.918 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:30.647 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: -0.9932310100953132 m^1. Interpolating depth and velocity.
15:37:30.949 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:30.969 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:32.979 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:32.999 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:34.669 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: -0.9932308925707973 m^1. Interpolating depth and velocity.
15:37:35.010 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:35.031 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:37.042 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:37.062 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:38.692 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: -0.9932308300781272 m^1. Interpolating depth and velocity.
15:37:39.094 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)
15:37:39.114 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) }))
15:37:41.125 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:41.145 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:42.714 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: -0.9932307922227261 m^1. Interpolating depth and velocity.
15:37:43.156 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:43.176 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:45.187 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:45.207 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:46.736 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: -0.9932307800176035 m^1. Interpolating depth and velocity.
15:37:47.238 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:47.259 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:49.270 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:49.290 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:50.758 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: -0.9932307597672829 m^1. Interpolating depth and velocity.
15:37:51.301 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:51.321 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:53.333 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:53.353 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:54.781 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: -0.993230752174096 m^1. Interpolating depth and velocity.
15:37:55.385 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:55.404 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:57.417 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:37:57.437 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:37:58.804 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: -0.9932307481039104 m^1. Interpolating depth and velocity.
15:37:59.448 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)
15:37:59.468 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) }))
15:38:01.479 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:01.499 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:02.828 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: -0.9932307442190607 m^1. Interpolating depth and velocity.
15:38:03.532 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:03.552 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:05.563 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:05.583 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:06.851 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: -0.9932307449662243 m^1. Interpolating depth and velocity.
15:38:07.594 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:07.615 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:09.626 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:09.645 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:10.873 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: -0.9932307414963257 m^1. Interpolating depth and velocity.
15:38:11.677 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:11.697 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:13.708 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:13.728 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:14.894 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: -0.9932307432754213 m^1. Interpolating depth and velocity.
15:38:15.739 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:15.759 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:17.769 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:17.770 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:18.917 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: -0.9932307408937482 m^1. Interpolating depth and velocity.
15:38:19.821 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:19.841 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:21.852 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:21.871 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:22.938 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: -0.9932307437300296 m^1. Interpolating depth and velocity.
15:38:23.883 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:23.903 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:25.914 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:25.934 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:26.960 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: -0.993230739488931 m^1. Interpolating depth and velocity.
15:38:27.965 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:27.985 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:29.997 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)
15:38:30.016 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:30.982 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: -0.9932307433728633 m^1. Interpolating depth and velocity.
15:38:32.028 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:32.048 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:34.059 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:34.079 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:35.004 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: -0.9932307404304517 m^1. Interpolating depth and velocity.
15:38:36.111 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:36.131 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) }))
15:38:38.141 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:38.141 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:39.026 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: -0.9932307428838136 m^1. Interpolating depth and velocity.
15:38:40.172 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:40.192 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:42.203 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:42.223 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:43.048 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: -0.9932307429578078 m^1. Interpolating depth and velocity.
15:38:44.255 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:44.275 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:46.285 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:46.305 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:47.071 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: -0.9932307399681348 m^1. Interpolating depth and velocity.
15:38:48.318 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:48.337 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) }))
15:38:50.349 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)
15:38:50.369 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) }))
15:38:51.093 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: -0.9932307405815943 m^1. Interpolating depth and velocity.
15:38:52.400 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:52.420 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:54.433 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:38:54.453 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:55.117 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: -0.9932307434494261 m^1. Interpolating depth and velocity.
15:38:56.465 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)
15:38:56.485 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:58.497 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)
15:38:58.516 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:38:59.140 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: -0.9932307437671497 m^1. Interpolating depth and velocity.
15:39:00.547 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:00.567 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:02.578 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:02.598 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) }))
15:39:03.162 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: -0.9932307426852813 m^1. Interpolating depth and velocity.
15:39:04.609 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:04.629 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:06.641 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)
15:39:06.661 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:07.184 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: -0.9932307437784567 m^1. Interpolating depth and velocity.
15:39:08.693 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:08.713 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:10.724 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:10.743 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:11.206 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: -0.9932307396368643 m^1. Interpolating depth and velocity.
15:39:12.755 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:12.775 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:14.786 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:14.806 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:15.229 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: -0.9932307428586897 m^1. Interpolating depth and velocity.
15:39:16.837 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:16.837 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:18.869 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:18.889 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:19.251 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: -0.9932307437567385 m^1. Interpolating depth and velocity.
15:39:20.900 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:20.920 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:22.931 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)
15:39:22.951 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) }))
15:39:23.273 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: -0.9932307429097467 m^1. Interpolating depth and velocity.
15:39:24.982 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:25.002 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:27.014 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:27.034 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:27.296 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: -0.993230743180979 m^1. Interpolating depth and velocity.
15:39:29.045 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:29.064 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:31.077 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:31.096 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:31.318 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: -0.9932307423563129 m^1. Interpolating depth and velocity.
15:39:33.126 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:33.146 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:35.157 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:35.177 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:35.338 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: -0.993230739747418 m^1. Interpolating depth and velocity.
15:39:37.202 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:37.222 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:39.247 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:39.267 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:39.348 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: -0.9932307412295662 m^1. Interpolating depth and velocity.
15:39:41.297 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:41.317 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) }))
15:39:43.329 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)
15:39:43.349 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) }))
15:39:43.349 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: -0.9932307413796981 m^1. Interpolating depth and velocity.
15:39:45.359 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:45.379 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:47.356 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: -0.9932307434795025 m^1. Interpolating depth and velocity.
15:39:47.396 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:47.416 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:49.447 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:49.447 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) }))
15:39:51.358 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: -0.9932307393472164 m^1. Interpolating depth and velocity.
15:39:51.478 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:51.498 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:53.526 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:53.546 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:55.396 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: -0.9932307424989557 m^1. Interpolating depth and velocity.
15:39:55.557 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)
15:39:55.577 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:57.611 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:39:57.634 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:39:59.420 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: -0.9932307390968131 m^1. Interpolating depth and velocity.
15:39:59.641 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)
15:39:59.662 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) }))
15:40:01.672 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:01.692 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:03.444 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: -0.9932307385165062 m^1. Interpolating depth and velocity.
15:40:03.705 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)
15:40:03.725 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) }))
15:40:05.757 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:05.757 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:07.467 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: -0.9932307384700998 m^1. Interpolating depth and velocity.
15:40:07.789 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)
15:40:07.809 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) }))
15:40:09.822 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:09.841 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:11.500 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: -0.9932307384740322 m^1. Interpolating depth and velocity.
15:40:11.866 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:11.886 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:13.950 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:13.970 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:15.517 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: -0.9932307384729899 m^1. Interpolating depth and velocity.
15:40:15.980 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:16.000 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:18.019 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:18.038 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:19.518 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: -0.9932307384647152 m^1. Interpolating depth and velocity.
15:40:20.060 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:20.080 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:22.133 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)
15:40:22.153 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) }))
15:40:23.542 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: -0.9932307384690291 m^1. Interpolating depth and velocity.
15:40:24.164 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:24.184 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:26.195 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)
15:40:26.215 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) }))
15:40:27.562 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: -0.9932307384843773 m^1. Interpolating depth and velocity.
15:40:28.225 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:28.245 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:30.277 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:30.297 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:31.585 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: -0.9932307384961852 m^1. Interpolating depth and velocity.
15:40:32.308 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:32.329 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:34.340 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:34.359 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:35.606 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: -0.9932307385116372 m^1. Interpolating depth and velocity.
15:40:36.371 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:36.391 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:38.422 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:38.442 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:39.630 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: -0.9932307385293591 m^1. Interpolating depth and velocity.
15:40:40.455 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:40.475 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:42.485 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:42.505 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:43.653 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: -0.9932307385335215 m^1. Interpolating depth and velocity.
15:40:44.517 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:44.537 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:46.569 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:46.589 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) }))
15:40:47.675 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: -0.9932307385484807 m^1. Interpolating depth and velocity.
15:40:48.599 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:48.619 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:50.632 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:50.651 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:51.697 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: -0.993230738412461 m^1. Interpolating depth and velocity.
15:40:52.662 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)
15:40:52.682 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) }))
15:40:54.713 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:54.733 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:55.719 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: -0.9932307384110444 m^1. Interpolating depth and velocity.
15:40:56.744 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:56.764 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:58.776 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:40:58.796 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:40:59.741 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: -0.9932307383961487 m^1. Interpolating depth and velocity.
15:41:00.808 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:00.828 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:02.859 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:02.879 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:03.764 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: -0.9932307384001788 m^1. Interpolating depth and velocity.
15:41:04.890 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:04.910 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:06.921 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:06.941 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:07.786 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: -0.9932307384119454 m^1. Interpolating depth and velocity.
15:41:08.953 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:08.973 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:11.004 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:11.024 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:11.808 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: -0.9932307384043213 m^1. Interpolating depth and velocity.
15:41:13.036 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:13.056 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:15.068 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:15.087 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:15.832 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: -0.9932307384186227 m^1. Interpolating depth and velocity.
15:41:17.098 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:17.118 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:19.149 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:19.170 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:19.854 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: -0.9932307384277963 m^1. Interpolating depth and velocity.
15:41:21.181 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:21.201 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:23.213 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:23.233 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:23.877 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: -0.9932307384320302 m^1. Interpolating depth and velocity.
15:41:25.244 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)
15:41:25.264 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) }))
15:41:27.296 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)
15:41:27.316 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:27.899 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: -0.9932307384545429 m^1. Interpolating depth and velocity.
15:41:29.329 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)
15:41:29.349 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) }))
15:41:31.360 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:31.380 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:31.923 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: -0.9932307384705155 m^1. Interpolating depth and velocity.
15:41:33.391 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:33.411 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:35.441 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:35.461 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:35.944 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: -0.9932307384840731 m^1. Interpolating depth and velocity.
15:41:37.474 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
15:41:37.494 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
15:41:37.816 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:295] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Finished)
15:41:37.816 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) })
15:41:37.836 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) }))
15:41:37.836 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:154] Disengaging TaskExecutor
15:41:37.836 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-23_15-36-30_waiting, hold position")
15:41:37.836 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:370] Waiting hold task finished before new task was started, disengaging now
15:41:37.836 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')") }
15:41:37.856 WARN  [robot_code/robot_core/task_scheduler/src/executor/error.rs:72] Executor in ErrorMode with error 'Path planner is still active'
15:41:37.857 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
15:41:37.857 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
15:41:37.876 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:528] Cancelling goals: []
15:41:37.876 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:42] Path planner stopped successfully
15:41:37.876 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:76] Executor in ErrorMode, but deactivated successfully
15:41:37.876 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("IdleMode") }
16:05:19.682 INFO  [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator()
16:05:19.685 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
16:05:19.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
16:05:19.884 INFO  [robot_code/peripherals/communication/src/lib.rs:186] Shutting down gRPC server
16:05:19.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
16:05:20.001 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped