14:05:09.173 INFO  [robot_code/utilities/logging/src/logging.rs:93] ================================================================================
14:05:09.173 INFO  [robot_code/utilities/logging/src/logging.rs:94] Starting new Rust log session at 2025-10-08 14:05:09.173861730 +02:00
14:05:09.173 INFO  [robot_code/utilities/logging/src/logging.rs:95] ================================================================================
14:05:09.173 DEBUG [robot_code/utilities/logging/src/logging.rs:96] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3, 4], children: {"lobster_hardware_checks": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_settings": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_live_stitching": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_error_codes": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_usbl_driver": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_old_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_image_processing": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_python_bindings": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_calibration": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_time": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], 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/2025-10-08_simulated_scout/2025-10-08_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/2025-10-08_simulated_scout/2025-10-08_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/2025-10-08_simulated_scout/2025-10-08_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/2025-10-08_simulated_scout/2025-10-08_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/2025-10-08_simulated_scout/2025-10-08_simulated_scout_rust.warn.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/2025-10-08_simulated_scout/2025-10-08_simulated_scout_rust.warn.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Warn }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/task_data/2025-10-08_simulated_scout/2025-10-08_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/2025-10-08_simulated_scout/2025-10-08_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
14:05:09.173 INFO  [robot_code/utilities/logging/src/logger_manager.rs:93] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-10-08_simulated_scout/2025-10-08_14-05-09_simulated_scout.lobsterlog")
14:05:09.180 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logging/high_frequency
14:05:09.181 INFO  [robot_code/robot_core/launch/src/lib.rs:133] Launching robot code with following settings:
Settings { actuation: ActuationSettings { max_current_change_per_second: 200.0, thruster_models: {"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] }, "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] }}, 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: None }, communication: CommunicationSettings { discovery_node: DiscoveryNodeSettings { broadcast_ips: ["255.255.255.255", "192.168.30.255"], broadcast_interfaces: [], broadcast_port: 10899, name: "simulated_scout", additional_ips: [] }, lora: LoraSettings { 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/record_199_data", "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({"sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834]}), 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, record_199_data: false, 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: true, 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_euler_degrees: [0.0, 0.0, 0.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0], sensor_noises: SensorNoises { noise_scaling_factor: 1.0, std_accelerometer: 0.02, std_gyroscope: 0.002, std_magnetometer: 2.0, std_dvl_velocity: 0.01, std_dvl_beam_distance: 0.1, std_gnss_receiver: 0.5, std_depth: 0.02 } }), 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, calibration_step_duration_seconds: 1.0, calibration_timeout_seconds: 10.0 }, 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, calibration_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: 3.0 }, visibility_check: VisibilityCheckSettings { default_start_altitude: 3.0, default_end_altitude: 0.5, diving_velocity: 0.2, photo_interval: 0.1 } }, waiting_hold_duration_seconds: 300.0 } }
14:05:09.251 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834]})
14:05:09.251 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([[0.32814878999999997, -0.00123998, 0.01605702]]) volume: 0.053
14:05:09.252 INFO  [robot_code/utilities/simulator/src/simulator.rs:89] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: true, 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_euler_degrees: [0.0, 0.0, 0.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0], sensor_noises: SensorNoises { noise_scaling_factor: 1.0, std_accelerometer: 0.02, std_gyroscope: 0.002, std_magnetometer: 2.0, std_dvl_velocity: 0.01, std_dvl_beam_distance: 0.1, std_gnss_receiver: 0.5, std_depth: 0.02 } }
14:05:09.364 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834]})
14:05:09.364 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([[0.32814878999999997, -0.00123998, 0.01605702]]) volume: 0.053
14:05:09.609 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834]})
14:05:09.609 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([[0.32814878999999997, -0.00123998, 0.01605702]]) volume: 0.053
14:05:09.609 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
14:05:09.609 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
14:05:09.609 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
14:05:09.609 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
14:05:09.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
14:05:09.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
14:05:09.610 WARN  [robot_code/robot_core/launch/src/lib.rs:521] IMU not enabled
14:05:09.610 WARN  [robot_code/robot_core/launch/src/lib.rs:539] Magnetometer not enabled
14:05:09.610 WARN  [robot_code/robot_core/launch/src/lib.rs:179] Magnetometer not enabled, state estimation will not be able to use it
14:05:09.610 WARN  [robot_code/robot_core/launch/src/lib.rs:595] Nortek DVL not enabled
14:05:09.610 WARN  [robot_code/robot_core/launch/src/lib.rs:574] GPS not enabled
14:05:09.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
14:05:09.610 DEBUG [robot_code/peripherals/actuation/src/lib.rs:231] Started simulated thruster module
14:05:09.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
14:05:09.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
14:05:09.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
14:05:09.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
14:05:09.611 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
14:05:09.611 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
14:05:09.611 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
14:05:09.611 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
14:05:09.611 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
14:05:09.611 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
14:05:09.611 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
14:05:09.611 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
14:05:09.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
14:05:09.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
14:05:09.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
14:05:09.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
14:05:09.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
14:05:09.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
14:05:09.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
14:05:09.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
14:05:09.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
14:05:09.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
14:05:09.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
14:05:09.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
14:05:09.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
14:05:09.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
14:05:09.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
14:05:09.613 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "imu_location": [1.22915, -0.07144, -0.03025], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834]})
14:05:09.613 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some([[0.32814878999999997, -0.00123998, 0.01605702]]) volume: 0.053
14:05:09.613 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
14:05:09.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
14:05:09.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
14:05:09.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
14:05:09.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 160168
14:05:09.613 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Control starting...
14:05:09.613 INFO  [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0
14:05:09.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
14:05:09.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
14:05:09.623 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
14:05:09.623 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
14:05:09.623 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
14:05:09.623 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 160172
14:05:09.653 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
14:05:09.710 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
14:05:09.710 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop
14:05:09.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
14:05:09.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
14:05:09.710 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
14:05:09.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: payload_sessions
14:05:09.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 160174
14:05:09.730 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
14:05:09.731 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
14:05:09.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
14:05:09.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
14:05:09.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 160177
14:05:09.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
14:05:09.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/active_tasks
14:05:09.732 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
14:05:09.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true }
14:05:09.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
14:05:09.732 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
14:05:09.732 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
14:05:09.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 160228
14:05:09.732 INFO  [robot_code/peripherals/communication/src/lib.rs:98] grpc listening on 0.0.0.0:10820
14:05:09.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
14:05:09.732 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
14:05:09.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
14:05:09.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
14:05:09.733 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
14:05:09.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true }
14:05:09.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
14:05:09.733 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
14:05:09.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true }
14:05:09.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
14:05:09.733 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
14:05:09.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true }
14:05:09.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 160233
14:05:09.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
14:05:09.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 160234
14:05:09.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 160235
14:05:09.750 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
14:05:09.750 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
14:05:09.750 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for hardware_checks
14:05:09.753 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
14:05:09.753 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
14:05:09.753 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "grpc_services", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
14:05:09.753 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
14:05:09.753 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true }
14:05:09.753 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
14:05:09.753 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 160238
14:05:09.754 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
14:05:09.754 INFO  [robot_code/robot_core/launch/src/lib.rs:494] Waiting until code stops running so threads can be joined
14:05:09.754 INFO  [robot_code/robot_core/launch/src/lib.rs:504] Trying to join thread 'control'
14:05:09.755 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces
14:05:09.755 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:73] Sending heartbeat simulated_scout:joris-laptop@[] to: ["255.255.255.255:10899", "192.168.30.255:10899"]
14:05:10.653 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 46.55Hz
14:05:11.656 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:05:12.659 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:13.662 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:05:14.666 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:05:15.678 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.40Hz
14:05:16.681 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:05:17.686 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
14:05:18.290 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
14:05:18.310 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
14:05:18.310 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
14:05:18.691 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
14:05:19.694 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:05:20.699 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
14:05:21.706 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.70Hz
14:05:22.711 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.72Hz
14:05:23.716 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.76Hz
14:05:24.722 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.69Hz
14:05:25.725 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:05:26.728 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:27.731 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:28.734 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:29.737 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:30.740 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:31.743 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:32.746 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:33.749 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:34.752 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:35.755 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:36.758 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:37.761 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:38.765 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
14:05:39.768 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:05:40.772 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:05:41.775 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:42.778 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:05:43.781 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
14:05:44.784 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:45.787 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:46.790 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:05:47.793 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:05:48.797 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:05:49.801 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:05:50.804 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:05:51.807 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:05:52.811 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
14:05:53.814 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:05:54.818 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:05:55.821 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:05:56.825 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
14:05:57.828 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:05:58.832 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:05:59.836 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
14:06:00.839 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:06:01.843 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
14:06:02.847 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:06:03.850 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:06:04.853 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:05.856 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:06.859 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:06:07.863 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:06:08.867 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
14:06:09.870 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:06:10.873 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:06:11.876 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:12.879 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:13.884 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
14:06:14.887 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
14:06:15.891 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:06:16.894 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:17.897 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:18.900 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:19.903 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:20.906 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:06:21.910 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:06:22.914 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
14:06:23.917 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:06:24.920 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:06:25.923 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:26.926 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:27.930 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:06:28.933 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:06:29.937 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
14:06:30.940 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:06:31.943 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:06:32.947 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:06:33.950 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:06:34.954 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:06:35.957 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:06:36.078 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: '10.0 x 10.0 m Inspection')
14:06:36.078 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
14:06:36.960 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:37.763 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
14:06:37.763 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
14:06:37.763 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:577] Starting a Upright task 'Upright task'
14:06:37.783 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
14:06:37.783 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [DirectControl(ControlGoalWithMeta { id: e87d5773-8792-4abb-b5e4-5996176fbf91, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, 0.5737925732262953, 0.8190006611171609], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
14:06:37.783 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: e87d5773-8792-4abb-b5e4-5996176fbf91, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, 0.5737925732262953, 0.8190006611171609], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
14:06:37.793 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: e87d5773-8792-4abb-b5e4-5996176fbf91, start_time: Some(87.78 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, 0.5737925732262953, 0.8190006611171609], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started)
14:06:37.793 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:434] Discarded 0 path planner updates before receiving the expected update
14:06:37.793 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Upright, name: 'Upright task', id: 656cb13d-478a-4445-ba65-4112dfec9404)"), mode: None }
14:06:37.814 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.09849536329157679, Enable control depth: 0.2, Depth control enabled: true
14:06:37.814 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
14:06:37.814 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 3.1539123515338803 m^1, east: 1.6441016387565972 m^1, down: 0.09849536329157679 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
14:06:37.814 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
14:06:37.823 WARN  [robot_code/robot_core/control/src/control_safety.rs:356] Roll error (32.64) is bigger than the allowed maximum (30.00), activating safety fallback mode!
14:06:37.964 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:06:38.305 INFO  [robot_code/robot_core/control/src/control_safety.rs:375] Roll error (-29.83) within bounds again, disabling safety fallback mode!
14:06:38.967 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:06:39.389 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: e87d5773-8792-4abb-b5e4-5996176fbf91, start_time: Some(87.78 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, 0.5737925732262953, 0.8190006611171609], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished)
14:06:39.409 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: e87d5773-8792-4abb-b5e4-5996176fbf91, start_time: Some(87.78 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, 0.5737925732262953, 0.8190006611171609], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })
14:06:39.409 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
14:06:39.409 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
14:06:39.449 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
14:06:39.449 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None }))]
14:06:39.449 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None }))]
14:06:39.449 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: MoveTo, name: 'move to start of '10.0 x 10.0 m Inspection'', id: 3d0f2e97-2135-4801-b415-08ea695e8947)"), mode: None }
14:06:39.449 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:434] Discarded 0 path planner updates before receiving the expected update
14:06:39.449 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None })), Started)
14:06:39.449 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:591] Starting task 'move to start of '10.0 x 10.0 m Inspection'', to prepare for SurveyArea task '10.0 x 10.0 m Inspection'
14:06:39.469 INFO  [robot_code/robot_core/state_estimation/src/mocked_state_estimator.rs:279] Updated geodetic origin to: PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }
14:06:39.479 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.09566917677688391, Enable control depth: 0.2, Depth control enabled: true
14:06:39.479 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }), hold_duration: None } }], [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }]
14:06:39.479 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
14:06:39.479 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None })), Preparing { lower_time_estimate: 7.2793351936495085 s^1, upper_time_estimate: 40.919002790474266 s^1 })
14:06:39.479 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: -1.8678701022925324 m^1, east: -7.0356081572573395 m^1, down: 0.09566917677688391 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }
14:06:39.480 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
14:06:39.480 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None })
14:06:39.489 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Preparing { lower_time_estimate: 7.2793351936495085 s^1, upper_time_estimate: 40.919002790474266 s^1 } for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None }))
14:06:39.971 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
14:06:40.302 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:426] Details: Current depth goal: 0.20434758240538287, Enable control depth: 0.2, Depth control enabled: false
14:06:40.302 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:159] Enabling depth control and reset z-velocity PID controller
14:06:40.974 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:41.837 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:197] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
14:06:41.977 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:06:42.980 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:43.983 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:06:44.986 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:45.990 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:46.993 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:06:47.997 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:06:49.000 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:06:50.003 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:06:51.007 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:06:52.011 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:06:53.014 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:06:54.017 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:55.020 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:56.023 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:57.026 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:06:58.030 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
14:06:59.033 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:07:00.036 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:07:01.039 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:02.042 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:03.045 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:04.029 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
14:07:04.029 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None })
14:07:04.049 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:07:04.049 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None }))
14:07:05.052 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:06.055 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:06.055 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
14:07:06.075 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None }))
14:07:07.058 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:07:08.061 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:07:08.082 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
14:07:08.101 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None }))
14:07:09.064 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:10.067 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:10.107 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
14:07:10.127 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None }))
14:07:11.070 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:12.073 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
14:07:12.153 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
14:07:12.173 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None }))
14:07:13.077 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:07:14.080 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
14:07:14.181 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
14:07:14.201 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None }))
14:07:15.084 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:07:15.525 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None })), Finished)
14:07:15.525 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:526] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None })
14:07:15.545 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Finished for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), max_velocity: 1.0 m^1 s^-1, altitude: None }))
14:07:15.545 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:577] Starting a SurveyArea task '10.0 x 10.0 m Inspection'
14:07:15.565 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
14:07:15.565 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
14:07:15.595 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
14:07:15.595 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
14:07:15.595 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
14:07:15.595 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
14:07:15.596 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:434] Discarded 0 path planner updates before receiving the expected update
14:07:15.596 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: '10.0 x 10.0 m Inspection', id: 12d3e365-22b4-47a4-991b-e7deff641214)"), mode: None }
14:07:15.596 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:33] StopRunningFlag created with ID: 1
14:07:15.596 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 1 cloned for mocked_camera_state
14:07:15.616 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
14:07:15.616 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 0.02377401907328793 m^1, east: 0.08898727551732856 m^1, down: 5.318827847028721 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }
14:07:15.616 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.318827847028721 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 5.097655877581861 m^1, east: 4.251904301481856 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 5.097655877581861 m^1, east: 4.251904301481856 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }], [LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.097655877581861 m^1, east: 4.251904301481856 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, end: PositionNE { north: -5.097650810965273 m^1, east: 4.251904301481856 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.097650810965273 m^1, east: 3.3931560661877382 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, end: PositionNE { north: 5.097655877581861 m^1, east: 3.3931560661877382 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.097655877581861 m^1, east: 2.5344078308936204 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, end: PositionNE { north: -5.097650810965273 m^1, east: 2.5344078308936204 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.097650810965273 m^1, east: 1.6756595955995028 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, end: PositionNE { north: 5.097655877581861 m^1, east: 1.6756595955995028 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.097655877581861 m^1, east: 0.8169113603053852 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, end: PositionNE { north: -5.097650810965273 m^1, east: 0.8169113603053852 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.097650810965273 m^1, east: -0.04183687498873234 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, end: PositionNE { north: 5.097655877581861 m^1, east: -0.04183687498873234 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.097655877581861 m^1, east: -0.9005851102828499 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, end: PositionNE { north: -5.097650810965273 m^1, east: -0.9005851102828499 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.097650810965273 m^1, east: -1.7593333455769675 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, end: PositionNE { north: 5.097655877581861 m^1, east: -1.7593333455769675 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.097655877581861 m^1, east: -2.618081580871085 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, end: PositionNE { north: -5.097650810965273 m^1, east: -2.618081580871085 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.097650810965273 m^1, east: -3.4768298161652025 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, end: PositionNE { north: 5.097655877581861 m^1, east: -3.4768298161652025 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.097655877581861 m^1, east: -4.33557805145932 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, end: PositionNE { north: -5.097650810965273 m^1, east: -4.33557805145932 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.908413021178136, lon: 0.0762714057387974 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }]
14:07:15.616 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing { lower_time_estimate: 231.8217179867176 s^1, upper_time_estimate: 707.7325769800764 s^1 })
14:07:15.616 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
14:07:15.625 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Preparing { lower_time_estimate: 231.8217179867176 s^1, upper_time_estimate: 707.7325769800764 s^1 } for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:07:16.087 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
14:07:17.090 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:07:18.093 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:07:19.096 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:20.100 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
14:07:21.103 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:22.106 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:07:23.110 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
14:07:24.114 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:07:25.118 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
14:07:26.121 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:07:27.125 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
14:07:28.129 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
14:07:29.132 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:07:30.135 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
14:07:31.139 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:07:32.142 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:07:33.146 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
14:07:34.150 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:07:35.153 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:07:36.156 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
14:07:36.577 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:07:36.577 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
14:07:36.597 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:07:36.640 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-08_simulated_scout/12d3e365-10_0_x_10_0_m_Inspection/photos/mocked_image_0.raw" at altitude: Some(1.044084729643099)
14:07:37.159 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:38.162 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:38.604 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:07:38.624 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:07:39.046 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
14:07:39.166 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:07:39.948 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-08_simulated_scout/12d3e365-10_0_x_10_0_m_Inspection/photos/mocked_image_1.raw" at altitude: Some(0.9514127771546105)
14:07:40.169 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:40.651 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:07:40.671 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:07:41.172 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:07:42.116 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-08_simulated_scout/12d3e365-10_0_x_10_0_m_Inspection/photos/mocked_image_8.raw" at altitude: Some(0.958569329933601)
14:07:42.175 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:07:42.677 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:07:42.697 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:07:43.179 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:07:44.182 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:44.363 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-08_simulated_scout/12d3e365-10_0_x_10_0_m_Inspection/photos/mocked_image_16.raw" at altitude: Some(0.9650331571901922)
14:07:44.704 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:07:44.724 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:07:45.185 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:46.188 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:07:46.610 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-08_simulated_scout/12d3e365-10_0_x_10_0_m_Inspection/photos/mocked_image_24.raw" at altitude: Some(0.9704867828208689)
14:07:46.730 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:07:46.750 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:07:47.191 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:07:48.195 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:07:48.777 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:07:48.798 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:07:48.858 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-08_simulated_scout/12d3e365-10_0_x_10_0_m_Inspection/photos/mocked_image_32.raw" at altitude: Some(0.9750894446724371)
14:07:49.199 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
14:07:50.202 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:50.804 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:07:50.824 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:07:51.105 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-08_simulated_scout/12d3e365-10_0_x_10_0_m_Inspection/photos/mocked_image_40.raw" at altitude: Some(0.978974037005926)
14:07:51.205 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:52.208 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:52.830 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:07:52.850 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:07:53.211 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
14:07:53.352 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-08_simulated_scout/12d3e365-10_0_x_10_0_m_Inspection/photos/mocked_image_48.raw" at altitude: Some(0.9822526744367136)
14:07:54.214 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:07:54.857 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:07:54.877 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:07:55.218 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:07:55.599 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-08_simulated_scout/12d3e365-10_0_x_10_0_m_Inspection/photos/mocked_image_56.raw" at altitude: Some(0.9850199395906132)
14:07:56.221 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
14:07:56.903 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:07:56.923 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:07:57.224 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
14:07:57.847 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-08_simulated_scout/12d3e365-10_0_x_10_0_m_Inspection/photos/mocked_image_64.raw" at altitude: Some(0.9873556090031915)
14:07:58.228 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
14:07:58.931 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:07:58.951 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:07:59.232 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
14:08:00.115 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
14:08:00.196 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-08_simulated_scout/12d3e365-10_0_x_10_0_m_Inspection/photos/mocked_image_72.raw" at altitude: Some(0.9894074926027152)
14:08:00.236 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
14:08:00.958 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
14:08:00.978 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908412237250164 0.07627013105481947,0.9084138051061068 0.07627013105481947,0.9084138051061068 0.07627268042277532,0.908412237250164 0.07627268042277532,0.908412237250164 0.07627013105481947)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
14:08:01.124 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread 'simulator' panicked at 'called `Result::unwrap()` on an `Err` value: Error { ctx: "Not connected to physics server" }': robot_code/utilities/simulator/src/pybullet_api.rs:152
   0: log_panics::Config::install_panic_hook::{{closure}}