11:44:35.712 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 11:44:35.712 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-09-03 11:44:35.712199298 +02:00 11:44:35.712 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 11:44:35.712 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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 11:44:35.712 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 11:44:35.712 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-09-03_simulated_scout/2025-09-03_11-44-35_simulated_scout.lobsterlog") 11:44:35.715 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 11:44:35.843 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834]}) 11:44:35.844 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:44:35.845 INFO [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: false, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 11:44:35.873 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834]}) 11:44:35.873 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:44:36.287 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834]}) 11:44:36.287 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:44:36.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 11:44:36.288 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 11:44:36.288 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 11:44:36.288 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 11:44:36.288 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 11:44:36.288 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 11:44:36.289 WARN [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled 11:44:36.289 WARN [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled 11:44:36.289 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 11:44:36.289 WARN [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled 11:44:36.289 WARN [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled 11:44:36.289 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834]}) 11:44:36.289 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:44:36.289 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 11:44:36.289 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 11:44:36.289 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 11:44:36.290 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 11:44:36.290 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 11:44:36.290 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 11:44:36.290 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 76598 11:44:36.290 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 11:44:36.290 DEBUG [robot_code/peripherals/actuation/src/lib.rs:219] Started simulated thruster module 11:44:36.290 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 11:44:36.291 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 11:44:36.291 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 11:44:36.291 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 11:44:36.292 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 11:44:36.292 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 11:44:36.292 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 11:44:36.292 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 11:44:36.292 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 11:44:36.293 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 11:44:36.293 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 11:44:36.293 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 11:44:36.293 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 11:44:36.293 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 11:44:36.293 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 11:44:36.294 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 11:44:36.294 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 11:44:36.294 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 11:44:36.294 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 11:44:36.294 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 11:44:36.294 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 11:44:36.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 11:44:36.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 11:44:36.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 11:44:36.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 11:44:36.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 11:44:36.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 11:44:36.296 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834]}) 11:44:36.296 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:44:36.296 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 11:44:36.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 11:44:36.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 11:44:36.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 76627 11:44:36.296 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Control starting... 11:44:36.296 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02 11:44:36.296 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 11:44:36.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 11:44:36.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 11:44:36.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 76628 11:44:36.326 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 11:44:36.417 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 11:44:36.417 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 11:44:36.417 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 11:44:36.417 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 11:44:36.417 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 11:44:36.417 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 76631 11:44:36.417 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 11:44:36.418 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 11:44:36.418 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 11:44:36.418 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 11:44:36.418 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 76633 11:44:36.418 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 11:44:36.419 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 11:44:36.419 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 11:44:36.419 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 11:44:36.419 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 11:44:36.419 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 11:44:36.419 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 76671 11:44:36.419 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 11:44:36.419 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 11:44:36.419 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 11:44:36.419 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 11:44:36.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 11:44:36.420 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 11:44:36.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 11:44:36.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 11:44:36.420 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 11:44:36.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 11:44:36.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 11:44:36.420 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 11:44:36.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 11:44:36.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 76677 11:44:36.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 11:44:36.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 76676 11:44:36.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 76678 11:44:36.438 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 11:44:36.438 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 11:44:36.442 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 11:44:36.442 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 11:44:36.442 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 11:44:36.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 11:44:36.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 11:44:36.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 76680 11:44:36.442 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 11:44:36.442 INFO [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined 11:44:36.442 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator' 11:44:36.443 INFO [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces 11:44:36.443 INFO [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 11:44:36.474 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:44:36.478 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:44:36.478 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 11:46:13.180 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 11:46:13.181 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 11:46:13.181 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 11:52:01.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 11:52:01.743 INFO [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator() 11:52:01.778 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 11:52:02.188 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 11:52:02.242 INFO [robot_code/peripherals/communication/src/lib.rs:188] Shutting down gRPC server 11:52:02.499 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped 11:52:03.723 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping... 11:52:03.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped 11:52:03.723 INFO [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'state_estimator' 11:52:03.724 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'control' 11:52:03.724 INFO [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'control' 11:52:03.724 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'simulator' 11:52:03.724 INFO [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'simulator' 11:52:03.724 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'path_planner' 11:52:50.721 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 11:52:50.721 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-09-03 11:52:50.721721690 +02:00 11:52:50.721 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 11:52:50.721 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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 11:52:50.721 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 11:52:50.721 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-09-03_simulated_scout/2025-09-03_11-52-50_simulated_scout.lobsterlog") 11:52:50.730 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 11:52:50.884 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025]}) 11:52:50.884 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:52:50.885 INFO [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: false, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 11:52:50.914 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025]}) 11:52:50.914 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:52:51.404 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025]}) 11:52:51.404 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:52:51.404 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 11:52:51.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 11:52:51.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 11:52:51.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 11:52:51.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 11:52:51.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 11:52:51.406 WARN [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled 11:52:51.406 WARN [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled 11:52:51.406 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 11:52:51.406 WARN [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled 11:52:51.406 WARN [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled 11:52:51.406 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025]}) 11:52:51.406 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 11:52:51.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 11:52:51.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 11:52:51.407 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 11:52:51.407 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 11:52:51.407 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 11:52:51.407 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 11:52:51.408 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 86149 11:52:51.408 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 11:52:51.408 DEBUG [robot_code/peripherals/actuation/src/lib.rs:219] Started simulated thruster module 11:52:51.408 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 11:52:51.415 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread 'main' panicked at 'byte index 18446744073709551611 is out of bounds of `REAL`': /home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/sql_type.rs:266 0: log_panics::Config::install_panic_hook::{{closure}} 12:01:34.387 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 12:01:34.388 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-09-03 12:01:34.388003148 +02:00 12:01:34.388 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 12:01:34.388 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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 12:01:34.388 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 12:01:34.388 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-09-03_simulated_scout/2025-09-03_12-01-34_simulated_scout.lobsterlog") 12:01:34.392 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 12:01:34.524 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 12:01:34.525 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:01:34.525 INFO [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: false, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 12:01:34.552 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 12:01:34.552 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:01:34.967 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 12:01:34.967 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:01:34.967 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 12:01:34.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 12:01:34.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 12:01:34.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 12:01:34.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 12:01:34.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 12:01:34.969 WARN [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled 12:01:34.969 WARN [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled 12:01:34.969 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 12:01:34.969 WARN [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled 12:01:34.969 WARN [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled 12:01:34.969 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "sonar_location": [1.81926, 0.0, 0.00717], "usbl_modem_location": [1.3235, 0.0, -0.09595], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 12:01:34.969 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:01:34.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 12:01:34.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 12:01:34.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 12:01:34.970 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 12:01:34.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 12:01:34.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 12:01:34.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 92380 12:01:34.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 12:01:34.970 DEBUG [robot_code/peripherals/actuation/src/lib.rs:219] Started simulated thruster module 12:01:34.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 12:01:34.974 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread 'main' panicked at 'byte index 18446744073709551611 is out of bounds of `REAL`': /home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/sql_type.rs:269 0: log_panics::Config::install_panic_hook::{{closure}} 12:02:38.906 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 12:02:38.906 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-09-03 12:02:38.906179681 +02:00 12:02:38.906 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 12:02:38.906 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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 12:02:38.906 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 12:02:38.906 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-09-03_simulated_scout/2025-09-03_12-02-38_simulated_scout.lobsterlog") 12:02:38.914 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 12:02:39.054 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "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], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 12:02:39.054 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:02:39.055 INFO [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: false, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 12:02:39.080 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "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], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 12:02:39.080 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:02:39.502 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "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], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 12:02:39.502 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:02:39.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 12:02:39.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 12:02:39.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 12:02:39.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 12:02:39.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 12:02:39.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 12:02:39.503 WARN [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled 12:02:39.503 WARN [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled 12:02:39.503 WARN [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it 12:02:39.504 WARN [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled 12:02:39.504 WARN [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled 12:02:39.504 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "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], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 12:02:39.504 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:02:39.504 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 12:02:39.504 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 12:02:39.504 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 12:02:39.505 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 12:02:39.505 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 12:02:39.505 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 12:02:39.505 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 95024 12:02:39.505 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 12:02:39.505 DEBUG [robot_code/peripherals/actuation/src/lib.rs:219] Started simulated thruster module 12:02:39.505 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 12:02:39.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 12:02:39.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 12:02:39.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 12:02:39.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 12:02:39.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 12:02:39.507 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 12:02:39.507 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 12:02:39.507 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 12:02:39.507 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 12:02:39.507 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 12:02:39.508 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 12:02:39.508 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 12:02:39.508 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 12:02:39.508 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 12:02:39.508 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 12:02:39.508 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 12:02:39.509 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 12:02:39.509 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 12:02:39.509 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 12:02:39.509 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 12:02:39.509 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 12:02:39.510 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 12:02:39.510 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 12:02:39.510 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 12:02:39.510 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 12:02:39.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 12:02:39.511 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "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], "camera_rear_location": [0.9707, 0.0, 0.0066]}) 12:02:39.511 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 12:02:39.511 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 12:02:39.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 12:02:39.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 12:02:39.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 95053 12:02:39.511 INFO [robot_code/robot_core/control/src/control_safety.rs:101] Control starting... 12:02:39.511 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Starting at 0.02 12:02:39.511 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 12:02:39.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 12:02:39.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 12:02:39.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 95054 12:02:39.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 12:02:39.633 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 12:02:39.633 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 12:02:39.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 12:02:39.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 12:02:39.633 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 12:02:39.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 95056 12:02:39.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 12:02:39.633 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 12:02:39.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 12:02:39.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 12:02:39.634 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 95058 12:02:39.634 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 12:02:39.635 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 12:02:39.635 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 12:02:39.635 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 12:02:39.635 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 12:02:39.635 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 12:02:39.635 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 12:02:39.635 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 95096 12:02:39.635 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 12:02:39.635 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 12:02:39.635 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 12:02:39.635 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 12:02:39.636 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 12:02:39.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 12:02:39.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 12:02:39.636 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 12:02:39.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 12:02:39.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 95101 12:02:39.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 12:02:39.636 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 12:02:39.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 12:02:39.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 12:02:39.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 95102 12:02:39.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 95103 12:02:39.653 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 12:02:39.653 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 12:02:39.657 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 12:02:39.657 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 12:02:39.657 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 12:02:39.657 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 12:02:39.657 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 12:02:39.657 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 95105 12:02:39.657 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 12:02:39.657 INFO [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined 12:02:39.657 INFO [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator' 12:02:39.658 INFO [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces 12:02:39.658 INFO [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: ["255.255.255.255:10899", "192.168.30.255:10899"] 12:02:39.685 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:02:39.693 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:02:39.693 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 12:02:39.810 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {} 12:02:39.810 INFO [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'device_settings'. Description: Device specific settings 12:02:39.814 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 12:02:39.814 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 12:02:39.814 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 12:53:37.179 INFO [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator() 12:53:37.186 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 12:53:37.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 12:53:37.264 INFO [robot_code/peripherals/communication/src/lib.rs:188] Shutting down gRPC server 17:17:00.227 INFO [robot_code/utilities/logging/src/logging.rs:134] ================================================================================ 17:17:00.227 INFO [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-09-03 17:17:00.227450474 +02:00 17:17:00.227 INFO [robot_code/utilities/logging/src/logging.rs:136] ================================================================================ 17:17:00.227 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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_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/2025-09-03_simulated_scout/2025-09-03_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:17:00.227 INFO [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root" 17:17:00.227 INFO [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-09-03_simulated_scout/2025-09-03_17-17-00_simulated_scout.lobsterlog") 17:17:00.230 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs 17:17:00.233 INFO [robot_code/robot_core/launch/src/lib.rs:130] Launching robot code with following settings: Settings { actuation: ActuationSettings { max_current_change_per_second: 200.0, thruster_models: {"DD80_S3_tailcone_RPM": ThrusterModel { currents: [-19100.0, -16800.0, -15100.0, -13350.0, -11400.0, -9200.0, -6100.0, -3150.0, -1400.0, 1400.0, 3150.0, 6100.0, 9200.0, 11400.0, 13350.0, 15100.0, 16800.0, 19100.0], thrusts: [-65.6, -46.9, -36.15, -26.1, -17.71, -7.8, -2.77, -0.73, -0.01, 0.01, 0.73, 2.77, 7.8, 17.71, 26.1, 36.15, 46.9, 65.6] }, "DD50_S3_tailcone": ThrusterModel { currents: [-25.0, -24.0, -22.0, -20.0, -18.0, -16.0, -14.0, -12.0, -10.0, -8.0, -6.0, -4.0, -2.0, -0.3, 0.3, 2.0, 4.0, 6.0, 8.0, 10.0, 12.0, 14.0, 16.0, 18.0, 20.0, 22.0, 24.0, 25.0], thrusts: [-25.09, -23.83, -21.52, -19.0, -16.96, -15.1, -12.9, -11.11, -9.28, -7.05, -5.04, -2.79, -0.6, -0.01, 0.01, 0.78, 2.64, 4.89, 7.3, 9.9, 12.3, 14.44, 16.54, 18.76, 21.31, 23.6, 25.3, 26.24] }, "T500_S3_tailcone_basic_SLS_prop": ThrusterModel { currents: [-20.0, -18.0, -16.0, -14.0, -12.0, -10.0, -8.0, -6.0, -4.0, -2.0, -0.3, 0.3, 2.0, 4.0, 6.0, 8.0, 10.0, 12.0, 14.0, 16.0, 18.0, 20.0], thrusts: [-42.03, -37.82, -33.02, -28.7, -24.7, -19.93, -16.03, -12.8, -8.0, -4.26, -0.001, 0.001, 3.06, 9.01, 14.23, 17.89, 22.8, 27.0, 32.66, 37.82, 42.8, 46.5] }, "DD50_S3_tailcone_RPM": ThrusterModel { currents: [-28400.0, -27680.0, -24670.0, -22010.0, -18470.0, -14700.0, -9920.0, -6450.0, -1000.0, 1000.0, 6450.0, 9920.0, 14700.0, 18470.0, 22010.0, 24670.0, 27680.0, 28400.0], thrusts: [-26.24, -25.3, -21.31, -16.54, -12.3, -7.3, -2.64, -0.78, -0.01, 0.01, 0.78, 2.64, 7.3, 12.3, 16.54, 21.31, 25.3, 26.24] }, "DD80_S3_tailcone": ThrusterModel { currents: [-20.0, -18.0, -16.0, -14.0, -12.0, -10.0, -8.0, -6.0, -4.0, -2.0, -0.3, 0.3, 2.0, 4.0, 6.0, 8.0, 10.0, 12.0, 14.0, 16.0, 18.0, 20.0], thrusts: [-36.15, -31.34, -26.1, -22.34, -17.71, -13.05, -7.8, -4.95, -2.77, -0.73, -0.01, 0.01, 0.73, 2.77, 4.95, 7.8, 13.05, 17.71, 22.34, 26.1, 31.34, 36.15] }}, thrusters: [ThrusterSettings { current_reversed: false, index: 7, model: "T500_S3_tailcone_basic_SLS_prop", name: "main_forwards", position: None, thruster_direction: [1.0, 0.0, 0.0], rpm_controlled: false }, ThrusterSettings { current_reversed: false, index: 6, model: "DD80_S3_tailcone_RPM", name: "rear_sidewards", position: None, thruster_direction: [0.0, 1.0, 0.0], rpm_controlled: true }, ThrusterSettings { current_reversed: true, index: 4, model: "DD50_S3_tailcone_RPM", name: "rear_right_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }, ThrusterSettings { current_reversed: false, index: 5, model: "DD50_S3_tailcone_RPM", name: "rear_left_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }, ThrusterSettings { current_reversed: false, index: 1, model: "DD80_S3_tailcone_RPM", name: "front_sidewards", position: None, thruster_direction: [0.0, 1.0, 0.0], rpm_controlled: true }, ThrusterSettings { current_reversed: false, index: 2, model: "DD50_S3_tailcone_RPM", name: "front_right_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }, ThrusterSettings { current_reversed: true, index: 3, model: "DD50_S3_tailcone_RPM", name: "front_left_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }] }, camera: CameraSettings { exposure_control_settings_list: [ExposureControl { exposure_target: 0.3, exposure_target_quantile: 0.3, gain_margin: 3.0, gain_target: 5.0, name: "default" }, ExposureControl { exposure_target: 0.4, exposure_target_quantile: 0.95, gain_margin: 3.0, gain_target: 5.0, name: "highlights" }], lights: Some(Lights { downstream_overheating_threshold: 60.0, temperature_pairs: {"nosecone": TemperaturePair { downstream_id: 214543499198464, upstream_id: 218469099307008 }, "tailcone": TemperaturePair { downstream_id: 164593029545984, upstream_id: 144801820246016 }}, upstream_overheating_threshold: 40.0 }), use_mocked: true, use_hardware_triggers: true, vertical_fov_degrees: 51.4, live_stitching: Some(LiveStitching { enabled: true, down_scale_factor: 4, quantile: 0.3, target_value: 0.3, gamma: 1.8, after_gamma_scaling: 2.0 }) }, communication: CommunicationSettings { discovery_node: DiscoveryNode { ips: ["255.255.255.255", "192.168.30.255"], interfaces: [], name: "simulated_scout", port: 10899 }, lora: Lora { lora_id: 30000, lora_discovery: LoraDiscovery { name: "scout3-X (Example)", ip_addresses: ["100.68.112.107"], usbl_id: 3 } }, enabled: true, request_server: RequestServer { port: 10820 }, standard_ui_settings_whitelist: ["task_scheduler/waiting_hold_duration_seconds", "task_scheduler/excessive_current_handling/trigger_count_limit_per_survey", "task_scheduler/task_settings/max_horizontal_distance_to_start_meters", "task_scheduler/task_settings/move_to/preferred_velocity_meter_per_second"], extended_ui_settings_whitelist: ["actuation/max_current_change_per_second", "camera/use_mocked", "communication/state_update_frequency_hz", "communication/task_overview_update_frequency_hz", "control/frequency", "active_profile", "path_planner", "robot", "safety/min_cell_voltage", "safety/max_battery_temperature", "safety/min_altitude", "safety/max_altitude", "safety/altitude_safety_fallback_buffer", "safety/altitude_setpoint_buffer", "safety/max_expected_sea_floor_depth", "safety/min_expected_sea_floor_depth", "safety/max_update_dt", "safety/max_thruster_temp", "safety/max_thruster_disconnect_time", "safety/min_dvl_altitude_working", "safety/min_dvl_depth_working", "safety/max_roll_error_degrees", "safety/roll_safety_fallback_buffer_degrees", "safety/roll_safety_fallback_max_duration_seconds", "safety/max_pitch_error_degrees", "safety/max_position_error_meters", "sensors/imu/frequency", "sensors/nortek_dvl/start_measuring_pressure_only", "sensors/nortek_dvl/dvl_settings/led", "sensors/nortek_dvl/dvl_settings/measuring_mode", "sensors/nortek_dvl/dvl_settings/sample_rate", "sensors/nortek_dvl/dvl_settings/cp_sample_interval", "sensors/nortek_dvl/dvl_settings/salinity", "sensors/nortek_dvl/dvl_settings/bt_range", "sensors/nortek_dvl/dvl_settings/bt_max_along_beam_velocity", "state_estimation", "task_scheduler"], state_update_frequency_hz: BroadcastFrequencyHz { max: 20.0, min: 0.01, standard: 10.0 }, task_overview_update_frequency_hz: BroadcastFrequencyHz { max: 5.0, min: 0.001, standard: 1.0 } }, control: ControlSettings { frequency: 100.0, model: ControlModel { d_linear: [[2.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 40.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 40.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]], d_quadratic: [[55.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 400.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 400.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 4.882, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 80.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 80.0]], damping_x_asym: 0.0, m_a: [[2.27703, 0.0, 0.0, 0.0, -0.00977, -0.0], [0.0, 66.39192, 0.0, 0.07973, 0.0, -0.38227], [0.0, 0.0, 65.93975, 0.0, 0.4623, -0.0], [0.0, 0.07973, 0.0, 0.72, 0.0, 0.01411], [-0.00977, 0.0, 0.4623, 0.0, 19.17022, -0.0], [-0.0, -0.38227, -0.0, 0.01411, -0.0, 19.18307]], modules: Modules { module_configuration: ["scout_3"], modules: {"scout_3": ModuleInformation { center_of_mass: [1.00235121, 0.00123998, 0.00154298], center_of_volume: [0.99326563, -1.34e-6, -0.0], length: 1.91214, mass: 52.44353958, moment_of_inertia: [[0.26065892, 0.00607949, -0.00522948], [0.00607949, 12.7208684, 0.00011234], [-0.00522948, 0.00011234, 12.69270147]], name: "scout_3", poi: Some({"front_left_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], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048]}), volume: 0.053 }}, standard_hull_radius: 0.1, volume_error: 0.0 }, pos_co_b: [0.0, 0.0, 0.0], water_density: 997.0 }, pids: Pids { x_angular_velocity: PidParameters { kp: 14.0, ki: 1.0, kd: 0.3, min: -2.0, max: 2.0, cut_off_freq: 10.0 }, x_attitude: PidParameters { kp: 1.0, ki: 0.0, kd: 0.04, min: -1.0, max: 1.0, cut_off_freq: 10.0 }, x_position: PidParameters { kp: 0.5, ki: 0.0, kd: 0.05, min: -0.5, max: 0.5, cut_off_freq: 10.0 }, x_velocity: PidParameters { kp: 200.0, ki: 30.0, kd: 5.0, min: -42.03, max: 46.5, cut_off_freq: 10.0 }, y_angular_velocity: PidParameters { kp: 90.0, ki: 10.0, kd: 1.5, min: -12.0, max: 12.0, cut_off_freq: 10.0 }, y_attitude: PidParameters { kp: 1.0, ki: 0.0, kd: 0.1, min: -0.4, max: 0.4, cut_off_freq: 10.0 }, y_position: PidParameters { kp: 0.5, ki: 0.0, kd: 0.05, min: -0.5, max: 0.5, cut_off_freq: 10.0 }, y_velocity: PidParameters { kp: 200.0, ki: 30.0, kd: 15.0, min: -50.0, max: 50.0, cut_off_freq: 10.0 }, z_angular_velocity: PidParameters { kp: 90.0, ki: 10.0, kd: 1.5, min: -12.0, max: 12.0, cut_off_freq: 10.0 }, z_attitude: PidParameters { kp: 1.0, ki: 0.0, kd: 0.1, min: -0.4, max: 0.4, cut_off_freq: 10.0 }, z_position: PidParameters { kp: 1.5, ki: 0.0, kd: 0.075, min: -0.25, max: 0.25, cut_off_freq: 10.0 }, z_velocity: PidParameters { kp: 200.0, ki: 15.0, kd: 10.0, min: -40.0, max: 40.0, cut_off_freq: 10.0 } }, forward_roll_cross_coupling_gain: -0.02 }, path_planner: PathPlannerSettings { control_attitude_tolerance_degrees: 6.0, control_goal_timeout_seconds: 15, control_position_tolerance_meters: 0.1, control_request_timeout_millis: 100, desired_update_frequency: 40.0, fallback_survey_orientation_degrees: 0.0, max_time_to_wait_for_new_goal_seconds: 0.5, polygon_scaling_factor: 1.02, vertical_position_constraints: VerticalPositionConstraints { min_preferred_altitude: 3.0, min_preferred_depth: 5.0, min_required_altitude: 1.0, min_required_depth: 0.0, velocity_at_min_required_altitude: 0.5, velocity_at_min_required_depth: 0.9, velocity_in_preferred_range: 1.0, velocity_limit_depth: 10.0 }, strategy_planner_parameters: StrategyPlannerParameters { heading_deviation_threshold_degrees: 6.0, position_threshold_xy: 0.7, setpoint_radius_xy: 0.6, line_end_threshold: 0.1, low_velocity_threshold: 0.1, max_line_deviation_xy: 0.15, max_pitch_slope_degrees: 30.0, static_surface_depth: 0.1, motion_planner_parameters: MotionPlannerParameters { max_acceleration: [0.5, 0.1, 0.3], max_angular_acceleration: [0.5, 0.5, 0.5], max_angular_velocity: [0.5, 0.3, 0.3], max_deceleration: [0.4, 0.3, 0.3], max_velocity: [1.2, 0.2, 0.2] }, orientation_distance_threshold: 0.2, position_on_track_hysteresis: 0.1, timeout_delay_seconds: 60.0, timeout_delay_factor: 2.5, estimate_delay_seconds: 30.0, estimate_delay_factor: 1.5, position_threshold_z: 0.1 } }, robot: RobotSettings { logging_name: "simulated_scout", can_enabled: false, enable_thrusters: true }, safety: SafetySettings { altitude_safety_fallback_buffer: 0.1, altitude_setpoint_buffer: 0.1, max_altitude: 50.0, max_battery_temperature: 40.0, max_depth: 40.2, max_expected_sea_floor_depth: 45.0, max_pitch_error_degrees: 45.0, max_position_error_meters: 20.0, max_roll_error_degrees: 45.0, max_thruster_disconnect_time: 5.0, max_thruster_temp: 70.0, max_update_dt: 0.5, min_altitude: 0.3, min_cell_voltage: 3.4, min_dvl_altitude_working: 20.0, min_dvl_depth_working: 5.0, min_expected_sea_floor_depth: 0.0, roll_safety_fallback_buffer_degrees: 15.0, roll_safety_fallback_max_duration_seconds: 5.0 }, sensors: SensorSettings { gps: Gps { enabled: false }, imu: Imu { acc_a: [0.998631, 0.0, 0.0, 0.0, 0.998631, 0.0, 0.0, 0.0, 0.998631], acc_b: [0.0, 0.0, 0.0], enabled: false, filter_low_pass_3_db_frequency: 20.0, frequency: 250.0, gyro_b: [-0.000357, 0.000623, 0.001831], name: Adis164753, orientation: [0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0] }, magnetometer: Magnetometer { enabled: false, mag_a: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], mag_b: [0.0, 1.0, 0.0], orientation: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, -1.0, 0.0] }, nortek_dvl: NortekDvl { command_port_timeout_millis: 2000, data_port_timeout_millis: 500, dvl_settings: DvlSettings { bt_blanking_distance: 0.06, bt_max_along_beam_velocity: 5.0, bt_range: 50.0, bt_settings_raw: "NB=4,CH=0,DF=21,PL=0.0,WTDF=22,PLMODE=\"MAX\"", cp_blanking_distance: 1.0, cp_cell_size: 1.0, cp_number_of_cells: 30, cp_sample_interval: 10, cp_settings_raw: "CY=\"XYZ\",PL=0.0,VP=0.000,VR=2.50,DF=3,NB=4,CH=0", do_fast_pressure: true, do_water_track: false, dvl_settings_raw: "TRIG=\"INTSR\",FN=\"\",SV=0,ALTI=0,FASTTRIG=1", fast_pressure_sample_rate: 30, fast_pressure_settings_raw: "DF=41", initial_pressure_offset: 9.51, instrument_yaw: 0.0, led: false, measuring_mode: Auto, salinity: 35.0, sample_rate: 8.0 }, enabled: false, host: "192.168.30.102", id: 106006, start_measuring_pressure_only: true }, sonar: Sonar { enabled: false, tilt_degree: 15.0 }, usbl: Some(SerialPortConfiguration { baud_rate: 115200, port_timeout_millis: 1000, serial_port: "/dev/ttyS0" }) }, active_profile: Default, simulator: Some(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] }), state_estimation: StateEstimationSettings { depth_samples_max_timeout_millis: 10000, external_disturbance_heading_valid_time_minutes: 60.0, gnss_samples_use_one_in_n: 8, seafloor_depth_smoothing_factor: 0.7, magnetic_field_strength_deviation: 4.0 }, task_scheduler: TaskSchedulerSettings { preparing_behavior: PreparationModeBehavior { max_number_gps_tasks: 2, max_number_move_to_start_tasks: 2 }, desired_update_frequency: 50.0, excessive_current_handling: ExcessiveCurrentParams { lateral_disturbance_threshold: 0.9, lateral_velocity_threshold: 0.07, time_threshold: 10.0, trigger_check_period_seconds: 0.1, trigger_count_limit_per_survey: 5, max_time_to_disable_preparation_tasks_minutes: 10.0 }, task_settings: TaskSettings { max_horizontal_distance_to_start_meters: 300.0, buoyancy_calibration: BuoyancyCalibrationSettings { calibration_depth: 1.0, minimum_required_seafloor_depth: 2.0, pitch_step_degrees: 20.0, roll_step_degrees: 20.0, step_duration_seconds: 20.0 }, external_disturbance_estimation: ExternalDisturbanceEstimationSettings { acceptable_normalized_lateral_disturbance: 0.4, lateral_disturbance_optimization_threshold: 0.05, longitudinal_disturbance_direction_threshold: 0.1, min_binary_search_step_size_degrees: 3.0, minimum_task_depth_meters: 1.0, wait_between_steps_seconds: 30.0 }, get_gps: GetGpsSettings { max_duration_seconds: 300.0, step_duration_seconds: 2.0, minimum_uncertainty_meters: 1.0, ascend_position_control_disable_depth: 1.5 }, hold: HoldSettings { max_horizontal_distance_to_start_meters: None, minimum_required_seafloor_depth: 1.0, preferred_velocity_meter_per_second: 1.0 }, magnetometer_calibration: MagnetometerCalibrationSettings { calibration_depth: 1.5, minimum_required_seafloor_depth: 3.0, pitch_steps: 5, roll_steps: 4, step_duration_seconds: 1.0, calibration_timeout_seconds: 10.0 }, manual_control: ManualControlSettings { default_force: 20.0, max_angular_velocity: 0.2, max_depth: 1.0, max_force: 60.0, max_pitch_deg: 20.0, max_roll_deg: 20.0, max_dive_velocity: 0.1, min_altitude: 0.05, initial_pitch_setpoint_deg: 5.0, control_yaw_error: false }, move_to: MoveToSettings { max_horizontal_distance_to_start_meters: None, minimum_required_seafloor_depth: 1.0, preferred_velocity_meter_per_second: 1.0 }, survey_area: SurveySettings { max_horizontal_distance_to_start_meters: None, default_velocity_meter_per_second: 0.4, maximum_velocity_meter_per_second: 1.5, min_current_magnitude_meter_per_second: 0.1, polygon_safety_scaling_factor: 1.02, max_initial_position_uncertainty_meters: 2.0 } }, waiting_hold_duration_seconds: 300.0 } } 17:17:00.399 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048]}) 17:17:00.400 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 17:17:00.400 INFO [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: false, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 17:17:00.433 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048]}) 17:17:00.433 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 17:17:00.885 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048]}) 17:17:00.885 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 17:17:00.885 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 17:17:00.886 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 17:17:00.886 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 17:17:00.886 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 17:17:00.886 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 17:17:00.887 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 17:17:00.887 WARN [robot_code/robot_core/launch/src/lib.rs:499] IMU not enabled 17:17:00.887 WARN [robot_code/robot_core/launch/src/lib.rs:517] Magnetometer not enabled 17:17:00.887 WARN [robot_code/robot_core/launch/src/lib.rs:176] Magnetometer not enabled, state estimation will not be able to use it 17:17:00.887 WARN [robot_code/robot_core/launch/src/lib.rs:573] Nortek DVL not enabled 17:17:00.887 WARN [robot_code/robot_core/launch/src/lib.rs:552] GPS not enabled 17:17:00.887 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048]}) 17:17:00.887 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 17:17:00.887 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 17:17:00.887 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 17:17:00.888 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 17:17:00.888 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator 17:17:00.888 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 17:17:00.888 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started 17:17:00.888 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 63691 17:17:00.888 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 17:17:00.889 DEBUG [robot_code/peripherals/actuation/src/lib.rs:219] Started simulated thruster module 17:17:00.889 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 17:17:00.889 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 17:17:00.889 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 17:17:00.890 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 17:17:00.890 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 17:17:00.890 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 17:17:00.890 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 17:17:00.890 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 17:17:00.891 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 17:17:00.891 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 17:17:00.891 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 17:17:00.891 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 17:17:00.891 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 17:17:00.892 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 17:17:00.892 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 17:17:00.892 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 17:17:00.892 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 17:17:00.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 17:17:00.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 17:17:00.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 17:17:00.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 17:17:00.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 17:17:00.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 17:17:00.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 17:17:00.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 17:17:00.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 17:17:00.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 17:17:00.895 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048]}) 17:17:00.895 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053 17:17:00.895 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 17:17:00.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 17:17:00.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 17:17:00.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 63720 17:17:00.895 INFO [robot_code/robot_core/control/src/control_safety.rs:101] Control starting... 17:17:00.895 INFO [robot_code/robot_core/control/src/control_safety.rs:103] Starting at 0.02 17:17:00.895 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 17:17:00.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 17:17:00.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 17:17:00.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 63721 17:17:00.925 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 17:17:01.026 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop 17:17:01.026 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 17:17:01.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 17:17:01.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 17:17:01.026 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 17:17:01.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 63723 17:17:01.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 17:17:01.026 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 17:17:01.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 17:17:01.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 17:17:01.027 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 63725 17:17:01.027 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 17:17:01.028 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 17:17:01.028 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 17:17:01.028 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 17:17:01.028 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 17:17:01.028 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 63763 17:17:01.028 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 17:17:01.028 INFO [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820 17:17:01.028 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 17:17:01.028 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 17:17:01.028 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 17:17:01.028 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 17:17:01.029 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 17:17:01.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 17:17:01.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 17:17:01.029 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 17:17:01.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 17:17:01.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 63768 17:17:01.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 17:17:01.029 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 17:17:01.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 17:17:01.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 17:17:01.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 63769 17:17:01.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 63770 17:17:01.046 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:17:01.046 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 17:17:01.049 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 17:17:01.049 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 17:17:01.049 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 17:17:01.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 17:17:01.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 17:17:01.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 63772 17:17:01.049 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 17:17:01.049 INFO [robot_code/robot_core/launch/src/lib.rs:472] Waiting until code stops running so threads can be joined 17:17:01.049 INFO [robot_code/robot_core/launch/src/lib.rs:482] Trying to join thread 'state_estimator' 17:17:01.050 INFO [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces 17:17:01.050 INFO [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: ["192.168.30.255:10899", "255.255.255.255:10899"] 17:17:31.197 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:17:31.197 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 17:17:31.197 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 17:19:00.186 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 17:19:00.186 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:19:00.186 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 17:24:14.094 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {"sensors": Object {"magnetometer": Object {"magA": Array [Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0)], "magB": Array [Number(0.0), Number(1.0), Number(0.0)]}}} 17:24:14.094 INFO [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'device_settings'. Description: Dynamic device specific settings. During runtime, these settings can be changed either by the user or by the robot itself. 17:24:14.100 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {} 17:24:14.100 INFO [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'default'. Description: 17:24:14.107 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 17:24:14.124 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 17:24:14.125 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:24:21.858 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 17:24:21.870 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 17:24:21.870 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:30:21.557 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 17:30:21.557 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 17:30:21.558 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 18:04:40.619 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 18:04:40.639 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 18:04:40.639 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 18:05:28.590 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state 18:05:28.594 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue 18:05:28.594 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 18:52:13.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 18:52:13.088 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 18:52:13.090 INFO [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator() 18:52:13.114 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 18:52:13.280 INFO [robot_code/peripherals/communication/src/lib.rs:188] Shutting down gRPC server 18:52:13.796 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped 18:52:15.072 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping... 18:52:15.072 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped 18:52:15.072 INFO [robot_code/robot_core/launch/src/lib.rs:486] Joined thread 'state_estimator' 18:52:15.072 INFO [robot_code/robot_core/launch/src/lib.rs:482] Trying to join thread 'control' 18:52:15.072 INFO [robot_code/robot_core/launch/src/lib.rs:486] Joined thread 'control' 18:52:15.072 INFO [robot_code/robot_core/launch/src/lib.rs:482] Trying to join thread 'simulator' 18:52:15.072 INFO [robot_code/robot_core/launch/src/lib.rs:486] Joined thread 'simulator' 18:52:15.072 INFO [robot_code/robot_core/launch/src/lib.rs:482] Trying to join thread 'path_planner' 18:52:23.816 WARN [robot_code/robot_core/launch/src/lib.rs:467] Not stopped after 10 seconds, aborting program