11:28:07.470 INFO [robot_code/utilities/logging/src/logging.rs:93] ================================================================================ 11:28:07.470 INFO [robot_code/utilities/logging/src/logging.rs:94] Starting new Rust log session at 2025-10-28 11:28:07.470739256 +01:00 11:28:07.470 INFO [robot_code/utilities/logging/src/logging.rs:95] ================================================================================ 11:28:07.470 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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 11:28:07.470 INFO [robot_code/utilities/logging/src/logger_manager.rs:93] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-10-28_simulated_scout/2025-10-28_11-28-07_simulated_scout.lobsterlog") 11:28:07.472 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logging/high_frequency 11:28:07.474 INFO [robot_code/robot_core/launch/src/lib.rs:135] Launching robot code with following settings: Settings { actuation: ActuationSettings { max_current_change_per_second: 200.0, thruster_models: {"DD80_S3_tailcone_RPM": ThrusterModel { currents: [-19100.0, -16800.0, -15100.0, -13350.0, -11400.0, -9200.0, -6100.0, -3150.0, -1400.0, 1400.0, 3150.0, 6100.0, 9200.0, 11400.0, 13350.0, 15100.0, 16800.0, 19100.0], thrusts: [-65.6, -46.9, -36.15, -26.1, -17.71, -7.8, -2.77, -0.73, -0.01, 0.01, 0.73, 2.77, 7.8, 17.71, 26.1, 36.15, 46.9, 65.6] }, "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": 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] }, "DD50_S3_tailcone_RPM": ThrusterModel { currents: [-28400.0, -27680.0, -24670.0, -22010.0, -18470.0, -14700.0, -9920.0, -6450.0, -1000.0, 1000.0, 6450.0, 9920.0, 14700.0, 18470.0, 22010.0, 24670.0, 27680.0, 28400.0], thrusts: [-26.24, -25.3, -21.31, -16.54, -12.3, -7.3, -2.64, -0.78, -0.01, 0.01, 0.78, 2.64, 7.3, 12.3, 16.54, 21.31, 25.3, 26.24] }, "DD80_S3_tailcone": ThrusterModel { currents: [-20.0, -18.0, -16.0, -14.0, -12.0, -10.0, -8.0, -6.0, -4.0, -2.0, -0.3, 0.3, 2.0, 4.0, 6.0, 8.0, 10.0, 12.0, 14.0, 16.0, 18.0, 20.0], thrusts: [-36.15, -31.34, -26.1, -22.34, -17.71, -13.05, -7.8, -4.95, -2.77, -0.73, -0.01, 0.01, 0.73, 2.77, 4.95, 7.8, 13.05, 17.71, 22.34, 26.1, 31.34, 36.15] }}, thrusters: [ThrusterSettings { current_reversed: false, index: 7, model: "T500_S3_tailcone_basic_SLS_prop", name: "main_forwards", position: None, thruster_direction: [1.0, 0.0, 0.0], rpm_controlled: false }, ThrusterSettings { current_reversed: false, index: 6, model: "DD80_S3_tailcone_RPM", name: "rear_sidewards", position: None, thruster_direction: [0.0, 1.0, 0.0], rpm_controlled: true }, ThrusterSettings { current_reversed: true, index: 4, model: "DD50_S3_tailcone_RPM", name: "rear_right_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }, ThrusterSettings { current_reversed: false, index: 5, model: "DD50_S3_tailcone_RPM", name: "rear_left_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }, ThrusterSettings { current_reversed: false, index: 1, model: "DD80_S3_tailcone_RPM", name: "front_sidewards", position: None, thruster_direction: [0.0, 1.0, 0.0], rpm_controlled: true }, ThrusterSettings { current_reversed: false, index: 2, model: "DD50_S3_tailcone_RPM", name: "front_right_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }, ThrusterSettings { current_reversed: true, index: 3, model: "DD50_S3_tailcone_RPM", name: "front_left_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }] }, camera: CameraSettings { exposure_control_settings_list: [ExposureControl { exposure_target: 0.3, exposure_target_quantile: 0.3, gain_margin: 3.0, gain_target: 5.0, name: "default" }, ExposureControl { exposure_target: 0.4, exposure_target_quantile: 0.95, gain_margin: 3.0, gain_target: 5.0, name: "highlights" }], lights: Some(Lights { downstream_overheating_threshold: 60.0, temperature_pairs: {"tailcone": TemperaturePair { downstream_id: 164593029545984, upstream_id: 144801820246016 }, "nosecone": TemperaturePair { downstream_id: 214543499198464, upstream_id: 218469099307008 }}, 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 } }, iridium: IridiumSettings { enabled: false, gateway_addresses: {}, destination: None }, 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({"usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}), 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 } } 11:28:07.540 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 11:28:07.540 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 11:28:07.542 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 } } 11:28:07.695 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 11:28:07.695 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 11:28:07.956 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 11:28:07.956 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 11:28:07.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 11:28:07.957 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 11:28:07.957 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 11:28:07.958 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 11:28:07.958 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 11:28:07.958 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 11:28:07.958 WARN [robot_code/robot_core/launch/src/lib.rs:539] IMU not enabled 11:28:07.958 WARN [robot_code/robot_core/launch/src/lib.rs:557] Magnetometer not enabled 11:28:07.958 WARN [robot_code/robot_core/launch/src/lib.rs:181] Magnetometer not enabled, state estimation will not be able to use it 11:28:07.958 WARN [robot_code/robot_core/launch/src/lib.rs:613] Nortek DVL not enabled 11:28:07.958 WARN [robot_code/robot_core/launch/src/lib.rs:592] GPS not enabled 11:28:07.958 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 11:28:07.958 DEBUG [robot_code/peripherals/actuation/src/lib.rs:231] Started simulated thruster module 11:28:07.958 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 11:28:07.958 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 11:28:07.958 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 11:28:07.958 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 11:28:07.959 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 11:28:07.959 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 11:28:07.959 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 11:28:07.959 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 11:28:07.959 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 11:28:07.959 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 11:28:07.959 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 11:28:07.959 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 11:28:07.960 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 11:28:07.960 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 11:28:07.960 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 11:28:07.960 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 11:28:07.960 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 11:28:07.960 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 11:28:07.960 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 11:28:07.960 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 11:28:07.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 11:28:07.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 11:28:07.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 11:28:07.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 11:28:07.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 11:28:07.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 11:28:07.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 11:28:07.962 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0]}) 11:28:07.962 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some([[0.32814878999999997, -0.00123998, 0.01605702]]) volume: 0.053 11:28:07.962 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 11:28:07.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 11:28:07.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 11:28:07.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 11:28:07.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 101780 11:28:07.962 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Control starting... 11:28:07.962 INFO [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0 11:28:07.963 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 11:28:07.963 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 11:28:07.972 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 11:28:07.972 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 11:28:07.972 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 11:28:07.972 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 101784 11:28:08.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 11:28:08.061 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 11:28:08.061 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop 11:28:08.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 11:28:08.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 11:28:08.061 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 11:28:08.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 101786 11:28:08.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: payload_sessions 11:28:08.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 11:28:08.082 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 11:28:08.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 11:28:08.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 11:28:08.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 101789 11:28:08.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 11:28:08.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/active_tasks 11:28:08.083 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 11:28:08.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 11:28:08.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 11:28:08.083 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 11:28:08.083 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 11:28:08.083 INFO [robot_code/peripherals/communication/src/lib.rs:99] grpc listening on 0.0.0.0:10820 11:28:08.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 101840 11:28:08.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 11:28:08.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 11:28:08.083 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 11:28:08.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 11:28:08.084 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 11:28:08.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 11:28:08.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 11:28:08.084 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 11:28:08.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 11:28:08.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 101845 11:28:08.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 11:28:08.084 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 11:28:08.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 11:28:08.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 101846 11:28:08.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 11:28:08.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 101847 11:28:08.101 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 11:28:08.101 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 11:28:08.101 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for hardware_checks 11:28:08.103 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 11:28:08.103 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 11:28:08.103 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. 11:28:08.104 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 11:28:08.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 11:28:08.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 11:28:08.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 101849 11:28:08.106 INFO [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces 11:28:08.106 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"] 11:28:08.107 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread 'main' panicked at 'Failed to open can1: No such device (os error 19)': robot_code/peripherals/can/src/can_module.rs:44 0: log_panics::Config::install_panic_hook::{{closure}} 11:28:44.617 INFO [robot_code/utilities/logging/src/logging.rs:93] ================================================================================ 11:28:44.617 INFO [robot_code/utilities/logging/src/logging.rs:94] Starting new Rust log session at 2025-10-28 11:28:44.617100318 +01:00 11:28:44.617 INFO [robot_code/utilities/logging/src/logging.rs:95] ================================================================================ 11:28:44.617 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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 11:28:44.617 INFO [robot_code/utilities/logging/src/logger_manager.rs:93] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-10-28_simulated_scout/2025-10-28_11-28-44_simulated_scout.lobsterlog") 11:28:44.624 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logging/high_frequency 11:28:44.625 INFO [robot_code/robot_core/launch/src/lib.rs:135] Launching robot code with following settings: Settings { actuation: ActuationSettings { max_current_change_per_second: 200.0, thruster_models: {"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] }, "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] }, "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] }, "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] }, "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] }}, 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 } }, iridium: IridiumSettings { enabled: false, gateway_addresses: {}, destination: None }, 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({"dvl_location": [1.3305, 0.0, 0.0176], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]}), 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 } } 11:28:44.697 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"dvl_location": [1.3305, 0.0, 0.0176], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]}) 11:28:44.697 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 11:28:44.698 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 } } 11:28:44.815 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"dvl_location": [1.3305, 0.0, 0.0176], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]}) 11:28:44.816 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 11:28:45.321 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"dvl_location": [1.3305, 0.0, 0.0176], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]}) 11:28:45.321 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 11:28:45.321 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 11:28:45.322 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 11:28:45.322 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 11:28:45.322 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 11:28:45.322 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 11:28:45.322 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 11:28:45.323 WARN [robot_code/robot_core/launch/src/lib.rs:541] IMU not enabled 11:28:45.323 WARN [robot_code/robot_core/launch/src/lib.rs:559] Magnetometer not enabled 11:28:45.323 WARN [robot_code/robot_core/launch/src/lib.rs:181] Magnetometer not enabled, state estimation will not be able to use it 11:28:45.323 WARN [robot_code/robot_core/launch/src/lib.rs:615] Nortek DVL not enabled 11:28:45.323 WARN [robot_code/robot_core/launch/src/lib.rs:594] GPS not enabled 11:28:45.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 11:28:45.323 DEBUG [robot_code/peripherals/actuation/src/lib.rs:231] Started simulated thruster module 11:28:45.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 11:28:45.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 11:28:45.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 11:28:45.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 11:28:45.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 11:28:45.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 11:28:45.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 11:28:45.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 11:28:45.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 11:28:45.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 11:28:45.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 11:28:45.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 11:28:45.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 11:28:45.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 11:28:45.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 11:28:45.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 11:28:45.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 11:28:45.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 11:28:45.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 11:28:45.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 11:28:45.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 11:28:45.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 11:28:45.326 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 11:28:45.326 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 11:28:45.326 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 11:28:45.326 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 11:28:45.326 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 11:28:45.326 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"dvl_location": [1.3305, 0.0, 0.0176], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "ps_location": [1.28577, 0.0, 0.06725], "gps_location": [0.93573, 0.00255, -0.17048], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "camera_front_location": [1.1187, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]}) 11:28:45.326 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 11:28:45.326 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 11:28:45.326 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 11:28:45.326 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 11:28:45.326 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 11:28:45.326 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 102400 11:28:45.326 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Control starting... 11:28:45.326 INFO [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0 11:28:45.327 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 11:28:45.327 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 11:28:45.337 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 11:28:45.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 11:28:45.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 11:28:45.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 102404 11:28:45.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 11:28:45.415 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 11:28:45.415 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop 11:28:45.415 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 11:28:45.415 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 11:28:45.415 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 11:28:45.415 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: payload_sessions 11:28:45.415 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 102406 11:28:45.435 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 11:28:45.436 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 11:28:45.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 11:28:45.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 11:28:45.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 102409 11:28:45.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 11:28:45.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/active_tasks 11:28:45.437 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 11:28:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 11:28:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 11:28:45.437 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 11:28:45.437 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 11:28:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 102460 11:28:45.437 INFO [robot_code/peripherals/communication/src/lib.rs:99] grpc listening on 0.0.0.0:10820 11:28:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 11:28:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 11:28:45.437 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 11:28:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 11:28:45.437 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 11:28:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 11:28:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 11:28:45.437 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 11:28:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 11:28:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 102465 11:28:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 11:28:45.437 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 11:28:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 11:28:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 102466 11:28:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 11:28:45.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 102467 11:28:45.455 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 11:28:45.456 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 11:28:45.456 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for hardware_checks 11:28:45.458 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 11:28:45.458 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 11:28:45.458 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. 11:28:45.459 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 11:28:45.459 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 11:28:45.459 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 11:28:45.459 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 102469 11:28:45.459 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 11:28:45.459 INFO [robot_code/robot_core/launch/src/lib.rs:514] Waiting until code stops running so threads can be joined 11:28:45.459 INFO [robot_code/robot_core/launch/src/lib.rs:524] Trying to join thread 'control' 11:28:45.459 INFO [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces 11:28:45.459 INFO [robot_code/peripherals/communication/src/discovery_node.rs:73] Sending heartbeat simulated_scout:joris-laptop@[] to: ["192.168.30.255:10899", "255.255.255.255:10899"] 11:28:46.358 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 46.94Hz 11:28:47.361 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz 11:28:48.364 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz 11:28:49.368 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz 11:28:49.809 INFO [robot_code/utilities/simulator/src/simulator.rs:330] Simulator dropped: Simulator() 11:28:49.811 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 11:28:49.812 INFO [robot_code/robot_core/launch/src/lib.rs:528] Joined thread 'control' 11:28:49.812 INFO [robot_code/robot_core/launch/src/lib.rs:524] Trying to join thread 'simulator' 11:28:49.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 15:06:44.714 INFO [robot_code/utilities/logging/src/logging.rs:93] ================================================================================ 15:06:44.714 INFO [robot_code/utilities/logging/src/logging.rs:94] Starting new Rust log session at 2025-10-28 15:06:44.714225965 +01:00 15:06:44.714 INFO [robot_code/utilities/logging/src/logging.rs:95] ================================================================================ 15:06:44.714 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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_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/2025-10-28_simulated_scout/2025-10-28_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 15:06:44.714 INFO [robot_code/utilities/logging/src/logger_manager.rs:93] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-10-28_simulated_scout/2025-10-28_15-06-44_simulated_scout.lobsterlog") 15:06:44.717 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logging/high_frequency 15:06:44.718 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: {"DD50_S3_tailcone_RPM": ThrusterModel { currents: [-28400.0, -27680.0, -24670.0, -22010.0, -18470.0, -14700.0, -9920.0, -6450.0, -1000.0, 1000.0, 6450.0, 9920.0, 14700.0, 18470.0, 22010.0, 24670.0, 27680.0, 28400.0], thrusts: [-26.24, -25.3, -21.31, -16.54, -12.3, -7.3, -2.64, -0.78, -0.01, 0.01, 0.78, 2.64, 7.3, 12.3, 16.54, 21.31, 25.3, 26.24] }, "DD80_S3_tailcone": ThrusterModel { currents: [-20.0, -18.0, -16.0, -14.0, -12.0, -10.0, -8.0, -6.0, -4.0, -2.0, -0.3, 0.3, 2.0, 4.0, 6.0, 8.0, 10.0, 12.0, 14.0, 16.0, 18.0, 20.0], thrusts: [-36.15, -31.34, -26.1, -22.34, -17.71, -13.05, -7.8, -4.95, -2.77, -0.73, -0.01, 0.01, 0.73, 2.77, 4.95, 7.8, 13.05, 17.71, 22.34, 26.1, 31.34, 36.15] }, "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] }, "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] }}, 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({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}), 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 } } 15:06:44.791 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 15:06:44.791 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 15:06:44.793 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 } } 15:06:44.946 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 15:06:44.946 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 15:06:45.485 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 15:06:45.486 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 15:06:45.486 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch 15:06:45.486 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu 15:06:45.486 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track 15:06:45.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track 15:06:45.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile 15:06:45.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth 15:06:45.487 WARN [robot_code/robot_core/launch/src/lib.rs:526] IMU not enabled 15:06:45.487 WARN [robot_code/robot_core/launch/src/lib.rs:544] Magnetometer not enabled 15:06:45.487 WARN [robot_code/robot_core/launch/src/lib.rs:184] Magnetometer not enabled, state estimation will not be able to use it 15:06:45.487 WARN [robot_code/robot_core/launch/src/lib.rs:600] Nortek DVL not enabled 15:06:45.487 WARN [robot_code/robot_core/launch/src/lib.rs:579] GPS not enabled 15:06:45.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager 15:06:45.487 DEBUG [robot_code/peripherals/actuation/src/lib.rs:231] Started simulated thruster module 15:06:45.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states 15:06:45.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control 15:06:45.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings 15:06:45.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position 15:06:45.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings 15:06:45.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position 15:06:45.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings 15:06:45.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position 15:06:45.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings 15:06:45.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude 15:06:45.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings 15:06:45.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude 15:06:45.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings 15:06:45.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude 15:06:45.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings 15:06:45.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity 15:06:45.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings 15:06:45.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity 15:06:45.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings 15:06:45.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity 15:06:45.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings 15:06:45.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity 15:06:45.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings 15:06:45.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity 15:06:45.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings 15:06:45.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity 15:06:45.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor 15:06:45.490 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "main_forwards_thruster_location": [0.0, 0.0, 0.0]}) 15:06:45.490 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 15:06:45.490 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control 15:06:45.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 15:06:45.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started 15:06:45.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state 15:06:45.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 220055 15:06:45.490 INFO [robot_code/robot_core/control/src/control_safety.rs:105] Control starting... 15:06:45.490 INFO [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0 15:06:45.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state 15:06:45.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats 15:06:45.500 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator 15:06:45.500 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 15:06:45.501 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started 15:06:45.501 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 220059 15:06:45.531 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info 15:06:45.579 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner 15:06:45.579 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop 15:06:45.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 15:06:45.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started 15:06:45.579 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera 15:06:45.580 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: payload_sessions 15:06:45.580 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 220061 15:06:45.599 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info 15:06:45.600 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler 15:06:45.600 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 15:06:45.600 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started 15:06:45.600 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 220064 15:06:45.600 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions 15:06:45.600 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/active_tasks 15:06:45.601 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module 15:06:45.601 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true } 15:06:45.601 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started 15:06:45.601 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services 15:06:45.601 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server 15:06:45.601 INFO [robot_code/peripherals/communication/src/lib.rs:98] grpc listening on 0.0.0.0:10820 15:06:45.601 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages 15:06:45.601 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 220115 15:06:45.601 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs 15:06:45.601 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages 15:06:45.601 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler 15:06:45.601 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true } 15:06:45.601 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message 15:06:45.601 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started 15:06:45.601 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher 15:06:45.602 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true } 15:06:45.602 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 220119 15:06:45.602 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started 15:06:45.602 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler 15:06:45.602 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true } 15:06:45.602 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 220121 15:06:45.602 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started 15:06:45.602 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 220122 15:06:45.620 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue 15:06:45.620 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration 15:06:45.620 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for hardware_checks 15:06:45.622 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer 15:06:45.622 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler 15:06:45.622 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. 15:06:45.622 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node 15:06:45.622 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true } 15:06:45.622 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started 15:06:45.622 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 220124 15:06:45.622 INFO [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces 15:06:45.622 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"] 15:06:45.622 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort 15:06:45.623 INFO [robot_code/robot_core/launch/src/lib.rs:499] Waiting until code stops running so threads can be joined 15:06:45.623 INFO [robot_code/robot_core/launch/src/lib.rs:509] Trying to join thread 'control' 15:06:46.522 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 46.94Hz 15:06:47.525 INFO [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz 15:06:47.786 INFO [robot_code/utilities/simulator/src/simulator.rs:330] Simulator dropped: Simulator() 15:06:47.787 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped 15:06:47.787 INFO [robot_code/robot_core/launch/src/lib.rs:513] Joined thread 'control' 15:06:47.787 INFO [robot_code/robot_core/launch/src/lib.rs:509] Trying to join thread 'simulator' 15:06:48.124 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped 15:06:48.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped 15:06:48.626 INFO [robot_code/peripherals/communication/src/lib.rs:194] Shutting down gRPC server 15:06:49.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped 15:06:49.420 INFO [robot_code/robot_core/launch/src/lib.rs:513] Joined thread 'simulator' 15:06:49.420 INFO [robot_code/robot_core/launch/src/lib.rs:509] Trying to join thread 'path_planner' 15:06:58.623 WARN [robot_code/robot_core/launch/src/lib.rs:494] Not stopped after 10 seconds, aborting program