09:33:00.944 INFO  [robot_code/utilities/logging/src/logging.rs:93] ================================================================================
09:33:00.945 INFO  [robot_code/utilities/logging/src/logging.rs:94] Starting new Rust log session at 2025-10-29 09:33:00.945019263 +01:00
09:33:00.945 INFO  [robot_code/utilities/logging/src/logging.rs:95] ================================================================================
09:33:00.945 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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
09:33:00.945 INFO  [robot_code/utilities/logging/src/logger_manager.rs:93] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2025-10-29_09-33-00_simulated_scout.lobsterlog")
09:33:00.949 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logging/high_frequency
09:33:00.950 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: {"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] }, "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: {"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 } }, 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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725]}), 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: true, 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: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, 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 } }
09:33:01.028 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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725]})
09:33:01.028 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
09:33:01.029 INFO  [robot_code/utilities/simulator/src/simulator.rs:89] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, 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 } }
09:33:01.194 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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725]})
09:33:01.195 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
09:33:01.691 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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725]})
09:33:01.691 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
09:33:01.691 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
09:33:01.691 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
09:33:01.691 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
09:33:01.692 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
09:33:01.692 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
09:33:01.692 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
09:33:01.692 WARN  [robot_code/robot_core/launch/src/lib.rs:521] IMU not enabled
09:33:01.692 WARN  [robot_code/robot_core/launch/src/lib.rs:539] Magnetometer not enabled
09:33:01.692 WARN  [robot_code/robot_core/launch/src/lib.rs:179] Magnetometer not enabled, state estimation will not be able to use it
09:33:01.692 WARN  [robot_code/robot_core/launch/src/lib.rs:595] Nortek DVL not enabled
09:33:01.692 WARN  [robot_code/robot_core/launch/src/lib.rs:574] GPS not enabled
09:33:01.692 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
09:33:01.692 DEBUG [robot_code/peripherals/actuation/src/lib.rs:231] Started simulated thruster module
09:33:01.692 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_range_image
09:33:01.695 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_intensity_image
09:33:01.697 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulated_sonar
09:33:01.697 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulated_sonar' with StopRunningFlag { name: "simulated_sonar", id: 0, stop_running: false, do_auto_stop: true }
09:33:01.697 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulated_sonar' successfully started
09:33:01.697 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
09:33:01.697 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulated_sonar with pid: 58592
09:33:01.697 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
09:33:01.697 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
09:33:01.698 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
09:33:01.698 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
09:33:01.698 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
09:33:01.698 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
09:33:01.698 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
09:33:01.698 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
09:33:01.698 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
09:33:01.698 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
09:33:01.698 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
09:33:01.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
09:33:01.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
09:33:01.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
09:33:01.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
09:33:01.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
09:33:01.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
09:33:01.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
09:33:01.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
09:33:01.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
09:33:01.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
09:33:01.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
09:33:01.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
09:33:01.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
09:33:01.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
09:33:01.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
09:33:01.700 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], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "imu_location": [1.22915, -0.07144, -0.03025], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "ps_location": [1.28577, 0.0, 0.06725]})
09:33:01.700 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
09:33:01.700 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
09:33:01.700 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 }
09:33:01.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
09:33:01.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
09:33:01.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 58620
09:33:01.700 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Control starting...
09:33:01.700 INFO  [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0
09:33:01.702 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
09:33:01.702 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
09:33:01.711 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
09:33:01.711 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 }
09:33:01.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
09:33:01.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 58624
09:33:01.741 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
09:33:01.794 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
09:33:01.794 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop
09:33:01.794 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 }
09:33:01.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
09:33:01.794 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
09:33:01.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: payload_sessions
09:33:01.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 58626
09:33:01.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
09:33:01.815 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
09:33:01.815 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 }
09:33:01.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
09:33:01.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 58629
09:33:01.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
09:33:01.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/active_tasks
09:33:01.816 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
09:33:01.816 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 }
09:33:01.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
09:33:01.816 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
09:33:01.816 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
09:33:01.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 58680
09:33:01.816 INFO  [robot_code/peripherals/communication/src/lib.rs:98] grpc listening on 0.0.0.0:10820
09:33:01.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
09:33:01.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
09:33:01.817 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
09:33:01.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
09:33:01.817 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
09:33:01.817 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 }
09:33:01.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
09:33:01.817 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
09:33:01.817 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 }
09:33:01.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 58685
09:33:01.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
09:33:01.817 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
09:33:01.817 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 }
09:33:01.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 58686
09:33:01.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
09:33:01.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 58687
09:33:01.834 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:33:01.834 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
09:33:01.834 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for hardware_checks
09:33:01.837 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
09:33:01.837 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
09:33:01.837 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_service
09:33:01.837 INFO  [robot_code/peripherals/communication/src/sonar_service.rs:48] Creating sonar service
09:33:01.837 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.
09:33:01.837 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
09:33:01.837 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 }
09:33:01.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
09:33:01.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 58689
09:33:01.838 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
09:33:01.838 INFO  [robot_code/robot_core/launch/src/lib.rs:494] Waiting until code stops running so threads can be joined
09:33:01.838 INFO  [robot_code/robot_core/launch/src/lib.rs:504] Trying to join thread 'simulated_sonar'
09:33:01.838 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces
09:33:01.838 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"]
09:33:01.868 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:33:01.868 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:33:01.868 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:33:01.871 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {"sensors": Object {"magnetometer": Object {"magA": Array [Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0)], "magB": Array [Number(0.0), Number(1.0), Number(0.0)]}}}
09:33:01.871 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'device_settings'. Description: Dynamic device specific settings. During runtime, these settings can be changed either by the user or by the robot itself.
09:33:01.873 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {}
09:33:01.873 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'default'. Description: 
09:33:01.875 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:33:01.875 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:33:01.875 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:33:01.875 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:33:01.875 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:33:01.875 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:33:01.969 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_state", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:33:01.970 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_state", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:33:02.737 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 46.72Hz
09:33:02.876 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "get_task_queue", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:33:02.876 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "get_task_queue", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:33:03.740 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:33:04.744 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:33:05.747 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:06.751 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:33:07.754 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:08.757 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:33:09.760 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:10.764 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:11.767 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:33:12.770 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:33:13.773 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:33:14.776 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:15.779 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:33:16.783 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:33:17.787 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:33:18.790 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:19.793 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:20.797 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:33:21.801 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:33:22.804 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:33:23.807 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:33:24.630 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: '15.0 x 15.0 m Inspection')
09:33:24.630 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
09:33:24.810 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:33:25.814 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:33:26.817 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:27.820 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:33:28.823 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:33:29.827 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:30.830 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:33:31.833 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:32.836 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:33.839 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:33:34.842 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:33:35.845 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:33:36.848 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:33:37.852 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:38.855 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:33:38.956 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:33:38.957 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:33:39.859 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:33:40.157 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:33:40.158 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_intensities", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:33:40.862 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:33:41.866 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:42.869 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:33:43.872 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:44.875 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:33:45.878 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:46.881 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:47.884 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:33:48.887 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:49.891 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:33:50.894 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:33:51.897 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:33:52.901 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:33:53.904 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:33:54.908 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:55.911 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:33:56.914 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:33:57.917 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:58.920 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:33:59.924 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:00.038 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:34:00.039 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:34:00.927 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:34:01.930 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:02.732 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
09:34:02.732 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
09:34:02.732 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:576] Starting a Upright task 'Upright task'
09:34:02.753 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
09:34:02.753 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [DirectControl(ControlGoalWithMeta { id: b50e2985-1518-42bb-ba1c-880a08c51827, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
09:34:02.753 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: b50e2985-1518-42bb-ba1c-880a08c51827, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
09:34:02.763 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:430] Discarded 0 path planner updates before receiving the expected update
09:34:02.763 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: b50e2985-1518-42bb-ba1c-880a08c51827, start_time: Some(60.78 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started)
09:34:02.763 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Upright, name: 'Upright task', id: 0fa25d6c-91d0-4dca-a850-2c38cae97fdd)"), mode: None }
09:34:02.783 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.09849564234772538, Enable control depth: 0.2, Depth control enabled: true
09:34:02.783 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: b50e2985-1518-42bb-ba1c-880a08c51827, start_time: Some(60.78 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished)
09:34:02.783 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
09:34:02.783 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
09:34:02.783 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09849564234772538 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
09:34:02.793 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: b50e2985-1518-42bb-ba1c-880a08c51827, start_time: Some(60.78 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })
09:34:02.793 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:576] Starting a SurveyArea task '15.0 x 15.0 m Inspection'
09:34:02.813 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
09:34:02.813 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
09:34:02.843 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
09:34:02.843 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
09:34:02.843 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
09:34:02.843 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:430] Discarded 0 path planner updates before receiving the expected update
09:34:02.843 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: '15.0 x 15.0 m Inspection', id: 3e2b9059-59e1-4d9a-a50d-53142d9d0f42)"), mode: None }
09:34:02.843 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:33] StopRunningFlag created with ID: 1
09:34:02.843 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 1 cloned for mocked_camera_state
09:34:02.863 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.09834581174408169, Enable control depth: 0.2, Depth control enabled: true
09:34:02.863 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1432303179206036 m^1. Interpolating depth and velocity.
09:34:02.863 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
09:34:02.863 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
09:34:02.863 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: -3.2504875456294324e-26 m^1, east: -1.1513957305866406e-28 m^1, down: 0.09834581174408169 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
09:34:02.863 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.4289169610375958 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -7.560339464835458 m^1, east: -6.721415313195974 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -7.560339464835458 m^1, east: -6.721415313195974 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }], [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.560339464835458 m^1, east: -6.721415313195974 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.727253065415091 m^1, east: -6.721415313195974 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.727253065415091 m^1, east: -5.862667077901857 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.560339464835458 m^1, east: -5.862667077901857 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.560339435033136 m^1, east: -5.003918842607739 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.727253095217414 m^1, east: -5.003918842607739 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.727253095217414 m^1, east: -4.145170607313621 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.560339435033136 m^1, east: -4.145170607313621 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.560339405230813 m^1, east: -3.286422372019503 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.727253125019736 m^1, east: -3.286422372019503 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.727253125019736 m^1, east: -2.4276741367253853 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.560339405230813 m^1, east: -2.4276741367253853 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.560339375428491 m^1, east: -1.5689259014312678 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.727253154822058 m^1, east: -1.5689259014312678 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.727253154822058 m^1, east: -0.7101776661371502 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.560339375428491 m^1, east: -0.7101776661371502 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.5603393456261685 m^1, east: 0.14857056915696742 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.727253184624381 m^1, east: 0.14857056915696742 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.727253184624381 m^1, east: 1.007318804451085 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.5603393456261685 m^1, east: 1.007318804451085 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.560339315823846 m^1, east: 1.8660670397452026 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.727253214426703 m^1, east: 1.8660670397452026 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.727253214426703 m^1, east: 2.72481527503932 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.560339315823846 m^1, east: 2.72481527503932 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.560339286021524 m^1, east: 3.5835635103334376 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.727253244229026 m^1, east: 3.5835635103334376 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.727253244229026 m^1, east: 4.442311745627555 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.560339286021524 m^1, east: 4.442311745627555 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.560339256219201 m^1, east: 5.301059980921673 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.727253274031348 m^1, east: 5.301059980921673 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 7.727253274031348 m^1, east: 6.159808216215791 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -7.560339256219201 m^1, east: 6.159808216215791 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -7.560339226416879 m^1, east: 7.018556451509909 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 7.72725330383367 m^1, east: 7.018556451509909 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 1.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }]
09:34:02.863 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing { lower_time_estimate: 531.1551549609406 s^1, upper_time_estimate: 1336.732732441411 s^1 })
09:34:02.863 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
09:34:02.873 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Preparing { lower_time_estimate: 531.1551549609406 s^1, upper_time_estimate: 1336.732732441411 s^1 } for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:02.933 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:34:03.676 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:426] Details: Current depth goal: 0.2045438234551762, Enable control depth: 0.2, Depth control enabled: false
09:34:03.676 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:159] Enabling depth control and reset z-velocity PID controller
09:34:03.936 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:04.940 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:05.241 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:197] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
09:34:05.943 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:06.866 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.147939094998911 m^1. Interpolating depth and velocity.
09:34:06.946 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:07.950 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:34:08.954 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:34:09.957 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:10.880 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1398160681689014 m^1. Interpolating depth and velocity.
09:34:10.960 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:34:11.963 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:12.967 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:13.970 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:14.893 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.8645843981783639 m^1. Interpolating depth and velocity.
09:34:14.973 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:15.977 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:16.980 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:34:17.983 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:18.906 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0300664043224543 m^1. Interpolating depth and velocity.
09:34:18.986 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:19.990 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:20.993 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:34:21.996 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:34:22.919 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.2751399184197041 m^1. Interpolating depth and velocity.
09:34:22.999 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:23.140 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/position_path_planner.rs:203] Robot is off track moving to Specific2D(PositionNE { north: -7.560339464835458 m^1, east: -6.721415313195974 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } })
09:34:24.003 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:25.006 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:26.009 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:26.932 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.6632917023218403 m^1. Interpolating depth and velocity.
09:34:27.012 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:27.053 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/position_path_planner.rs:118] Robot is on track moving to Specific2D(PositionNE { north: -7.560339464835458 m^1, east: -6.721415313195974 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } })
09:34:28.016 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:29.019 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:29.561 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:34:29.561 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
09:34:29.581 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:29.623 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/3e2b9059-15_0_x_15_0_m_Inspection/photos/mocked_image_0.raw" at altitude: None
09:34:29.623 WARN  [robot_code/peripherals/payload/src/coverage_tracker.rs:60] Seafloor depth was not available
09:34:30.023 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:34:31.026 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:31.609 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:34:31.628 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:32.029 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:34:33.032 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:34:33.634 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:34:33.654 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:34.035 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:34:35.038 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:35.661 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:34:35.681 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:36.042 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:34:37.046 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:34:37.688 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:34:37.708 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:38.049 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:39.052 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:34:39.734 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:34:39.754 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:40.055 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:34:41.058 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:41.761 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:34:41.781 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:42.061 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:43.065 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:43.787 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:34:43.807 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:44.068 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:45.071 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:45.818 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:34:45.834 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:46.075 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:34:47.078 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:47.861 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:34:47.881 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:48.081 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:49.085 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:49.727 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/3e2b9059-15_0_x_15_0_m_Inspection/photos/mocked_image_1.raw" at altitude: Some(1.5011295419695663)
09:34:49.727 WARN  [robot_code/peripherals/payload/src/coverage_tracker.rs:55] Sensor data is out of range
09:34:49.891 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:34:49.907 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:50.088 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:34:51.091 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:34:51.813 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:34:51.913 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:34:51.933 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:51.974 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/3e2b9059-15_0_x_15_0_m_Inspection/photos/mocked_image_4.raw" at altitude: Some(1.0739973762359027)
09:34:52.094 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:52.917 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:34:53.097 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:53.940 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:34:53.960 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:53.983 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/3e2b9059-15_0_x_15_0_m_Inspection/photos/mocked_image_7.raw" at altitude: Some(1.2382543926805778)
09:34:54.100 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:55.103 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:55.224 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.081 degrees
09:34:55.244 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.164 degrees
09:34:55.266 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.246 degrees
09:34:55.284 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.325 degrees
09:34:55.304 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.402 degrees
09:34:55.324 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.475 degrees
09:34:55.344 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.544 degrees
09:34:55.345 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:34:55.364 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.609 degrees
09:34:55.385 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.668 degrees
09:34:55.405 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.720 degrees
09:34:55.425 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.766 degrees
09:34:55.445 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.804 degrees
09:34:55.465 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.833 degrees
09:34:55.486 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.847 degrees
09:34:55.505 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.848 degrees
09:34:55.525 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.838 degrees
09:34:55.545 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.816 degrees
09:34:55.565 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.781 degrees
09:34:55.585 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.733 degrees
09:34:55.605 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.670 degrees
09:34:55.625 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.592 degrees
09:34:55.645 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.500 degrees
09:34:55.665 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.393 degrees
09:34:55.688 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.270 degrees
09:34:55.706 WARN  [robot_code/robot_core/state_estimation/src/lib.rs:115] Big slope detected, ignoring slope. Calculated slope: 50.131 degrees
09:34:55.987 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:34:56.007 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:56.107 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:56.268 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/3e2b9059-15_0_x_15_0_m_Inspection/photos/mocked_image_10.raw" at altitude: Some(0.9867258985909654)
09:34:57.110 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:58.014 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:34:58.034 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:34:58.113 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:34:58.456 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/3e2b9059-15_0_x_15_0_m_Inspection/photos/mocked_image_17.raw" at altitude: Some(0.9673406372291354)
09:34:58.837 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:34:59.117 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:34:59.760 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:35:00.041 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:35:00.061 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:35:00.120 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:35:00.603 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/3e2b9059-15_0_x_15_0_m_Inspection/photos/mocked_image_21.raw" at altitude: Some(0.9121562703394763)
09:35:00.803 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:35:01.124 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:35:01.205 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:35:02.068 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:35:02.088 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:35:02.128 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:35:02.851 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/3e2b9059-15_0_x_15_0_m_Inspection/photos/mocked_image_26.raw" at altitude: Some(0.9001329327201797)
09:35:02.911 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:35:02.971 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:35:03.131 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:35:04.115 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:35:04.135 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:35:04.135 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084110704544297 0.0762673051511987,0.9084134214129296 0.0762673051511987,0.9084134214129296 0.07627112916758758,0.9084110704544297 0.07627112916758758,0.9084110704544297 0.0762673051511987)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:35:20.448 INFO  [robot_code/utilities/logging/src/logging.rs:93] ================================================================================
09:35:20.448 INFO  [robot_code/utilities/logging/src/logging.rs:94] Starting new Rust log session at 2025-10-29 09:35:20.448176318 +01:00
09:35:20.448 INFO  [robot_code/utilities/logging/src/logging.rs:95] ================================================================================
09:35:20.448 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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
09:35:20.448 INFO  [robot_code/utilities/logging/src/logger_manager.rs:93] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2025-10-29_09-35-20_simulated_scout.lobsterlog")
09:35:20.450 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logging/high_frequency
09:35:20.451 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": 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_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] }, "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] }, "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] }}, 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 } }, 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({"front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "magnetometer_location": [1.06914, 0.00188, -0.20086]}), 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: true, 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: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, 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 } }
09:35:20.522 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "magnetometer_location": [1.06914, 0.00188, -0.20086]})
09:35:20.522 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
09:35:20.523 INFO  [robot_code/utilities/simulator/src/simulator.rs:89] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, 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 } }
09:35:20.628 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "magnetometer_location": [1.06914, 0.00188, -0.20086]})
09:35:20.628 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
09:35:33.767 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "magnetometer_location": [1.06914, 0.00188, -0.20086]})
09:35:33.768 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
09:35:33.768 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
09:35:33.768 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
09:35:33.768 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
09:35:33.768 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
09:35:33.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
09:35:33.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
09:35:33.769 WARN  [robot_code/robot_core/launch/src/lib.rs:521] IMU not enabled
09:35:33.769 WARN  [robot_code/robot_core/launch/src/lib.rs:539] Magnetometer not enabled
09:35:33.769 WARN  [robot_code/robot_core/launch/src/lib.rs:179] Magnetometer not enabled, state estimation will not be able to use it
09:35:33.769 WARN  [robot_code/robot_core/launch/src/lib.rs:595] Nortek DVL not enabled
09:35:33.769 WARN  [robot_code/robot_core/launch/src/lib.rs:574] GPS not enabled
09:35:33.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
09:35:33.769 DEBUG [robot_code/peripherals/actuation/src/lib.rs:231] Started simulated thruster module
09:35:33.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_range_image
09:35:33.772 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_intensity_image
09:35:33.773 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulated_sonar
09:35:33.773 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulated_sonar' with StopRunningFlag { name: "simulated_sonar", id: 0, stop_running: false, do_auto_stop: true }
09:35:33.773 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulated_sonar' successfully started
09:35:33.773 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
09:35:33.773 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulated_sonar with pid: 60078
09:35:33.773 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
09:35:33.773 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
09:35:33.773 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
09:35:33.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
09:35:33.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
09:35:33.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
09:35:33.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
09:35:33.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
09:35:33.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
09:35:33.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
09:35:33.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
09:35:33.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
09:35:33.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
09:35:33.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
09:35:33.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
09:35:33.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
09:35:33.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
09:35:33.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
09:35:33.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
09:35:33.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
09:35:33.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
09:35:33.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
09:35:33.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
09:35:33.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
09:35:33.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
09:35:33.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
09:35:33.775 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "sonar_location": [1.81926, 0.0, 0.00717], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "magnetometer_location": [1.06914, 0.00188, -0.20086]})
09:35:33.775 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
09:35:33.775 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
09:35:33.775 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 }
09:35:33.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
09:35:33.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
09:35:33.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 60106
09:35:33.776 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Control starting...
09:35:33.776 INFO  [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0
09:35:33.776 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
09:35:33.776 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
09:35:33.786 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
09:35:33.786 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 }
09:35:33.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
09:35:33.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 60110
09:35:33.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
09:35:33.887 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
09:35:33.887 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop
09:35:33.887 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 }
09:35:33.888 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
09:35:33.888 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
09:35:33.888 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 60116
09:35:33.888 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: payload_sessions
09:35:33.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
09:35:33.908 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
09:35:33.908 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 }
09:35:33.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
09:35:33.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 60121
09:35:33.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
09:35:33.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/active_tasks
09:35:33.909 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
09:35:33.909 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 }
09:35:33.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
09:35:33.909 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
09:35:33.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 60172
09:35:33.909 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
09:35:33.909 INFO  [robot_code/peripherals/communication/src/lib.rs:98] grpc listening on 0.0.0.0:10820
09:35:33.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
09:35:33.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
09:35:33.910 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
09:35:33.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
09:35:33.910 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
09:35:33.910 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 }
09:35:33.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
09:35:33.910 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
09:35:33.910 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 }
09:35:33.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 60177
09:35:33.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
09:35:33.910 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
09:35:33.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 60178
09:35:33.910 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 }
09:35:33.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
09:35:33.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 60179
09:35:33.928 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
09:35:33.928 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for hardware_checks
09:35:33.928 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:35:33.930 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
09:35:33.930 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
09:35:33.930 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_service
09:35:33.930 INFO  [robot_code/peripherals/communication/src/sonar_service.rs:48] Creating sonar service
09:35:33.930 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.
09:35:33.930 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
09:35:33.930 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 }
09:35:33.930 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
09:35:33.930 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 60181
09:35:33.931 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
09:35:33.931 INFO  [robot_code/robot_core/launch/src/lib.rs:494] Waiting until code stops running so threads can be joined
09:35:33.931 INFO  [robot_code/robot_core/launch/src/lib.rs:504] Trying to join thread 'simulated_sonar'
09:35:33.931 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces
09:35:33.931 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"]
09:35:33.954 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:35:33.968 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:35:33.968 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:35:34.065 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:35:34.067 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {"sensors": Object {"magnetometer": Object {"magA": Array [Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0)], "magB": Array [Number(0.0), Number(1.0), Number(0.0)]}}}
09:35:34.067 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'device_settings'. Description: Dynamic device specific settings. During runtime, these settings can be changed either by the user or by the robot itself.
09:35:34.069 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {}
09:35:34.069 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'default'. Description: 
09:35:34.071 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:35:34.071 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:35:34.155 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_state", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:35:34.811 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 45.78Hz
09:35:35.814 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:35:35.969 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "get_task_queue", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:35:36.817 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:35:37.820 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:35:38.824 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:35:39.827 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:35:40.831 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:35:41.833 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:35:42.837 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:35:43.840 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:35:44.843 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:35:45.846 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:35:46.850 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:35:47.853 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:35:48.857 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:35:49.860 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:35:50.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
09:35:50.723 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: '10.0 x 10.0 m Inspection')
09:35:50.863 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:35:51.866 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:35:52.869 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:35:53.351 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
09:35:53.351 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:576] Starting a Upright task 'Upright task'
09:35:53.351 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
09:35:53.371 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
09:35:53.371 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [DirectControl(ControlGoalWithMeta { id: 7c65ebb5-4c50-407a-bc55-120bd2149f47, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
09:35:53.371 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 7c65ebb5-4c50-407a-bc55-120bd2149f47, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
09:35:53.381 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 7c65ebb5-4c50-407a-bc55-120bd2149f47, start_time: Some(19.44 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started)
09:35:53.381 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:430] Discarded 0 path planner updates before receiving the expected update
09:35:53.381 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Upright, name: 'Upright task', id: d2ec4ce7-e5a3-4103-b196-a437439f4b86)"), mode: None }
09:35:53.402 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.09713912486827984, Enable control depth: 0.2, Depth control enabled: true
09:35:53.402 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09713912486827984 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
09:35:53.402 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 7c65ebb5-4c50-407a-bc55-120bd2149f47, start_time: Some(19.44 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished)
09:35:53.402 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
09:35:53.402 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
09:35:53.413 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 7c65ebb5-4c50-407a-bc55-120bd2149f47, start_time: Some(19.44 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })
09:35:53.413 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:576] Starting a SurveyArea task '10.0 x 10.0 m Inspection'
09:35:53.423 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
09:35:53.423 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
09:35:53.471 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
09:35:53.471 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
09:35:53.471 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
09:35:53.471 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:430] Discarded 0 path planner updates before receiving the expected update
09:35:53.471 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: '10.0 x 10.0 m Inspection', id: 1aa7a46b-3337-4ab7-b142-a925bb999420)"), mode: None }
09:35:53.472 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:33] StopRunningFlag created with ID: 1
09:35:53.472 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 1 cloned for mocked_camera_state
09:35:53.502 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.09812124790771198, Enable control depth: 0.2, Depth control enabled: true
09:35:53.502 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09812124790771198 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
09:35:53.502 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1432303179206045 m^1. Interpolating depth and velocity.
09:35:53.502 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
09:35:53.502 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.4289169610375965 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -5.062481178131572 m^1, east: -2.5046597790952614 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -5.062481178131572 m^1, east: -2.5046597790952614 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(3.0 m^1), orientation_point: None, hold_duration: None } }], [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.062481178131572 m^1, east: -2.5046597790952614 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 5.129247175368794 m^1, east: -2.5046597790952614 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 3.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.129247175368794 m^1, east: 0.07158492678709116 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -5.062481178131572 m^1, east: 0.07158492678709116 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 3.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.062481148329249 m^1, east: 2.6478296326694437 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 5.129247205171116 m^1, east: 2.6478296326694437 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 3.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }]
09:35:53.502 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing { lower_time_estimate: 67.33624085044761 s^1, upper_time_estimate: 221.00436127567144 s^1 })
09:35:53.502 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
09:35:53.502 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
09:35:53.511 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Preparing { lower_time_estimate: 67.33624085044761 s^1, upper_time_estimate: 221.00436127567144 s^1 } for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:35:53.872 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
09:35:54.324 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:426] Details: Current depth goal: 0.20431747406938694, Enable control depth: 0.2, Depth control enabled: false
09:35:54.324 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:159] Enabling depth control and reset z-velocity PID controller
09:35:54.876 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:35:55.859 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:197] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
09:35:55.879 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:35:56.882 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:35:57.504 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1479250419790406 m^1. Interpolating depth and velocity.
09:35:57.885 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:35:58.888 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:35:59.892 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:36:00.895 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:01.517 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1398530300637493 m^1. Interpolating depth and velocity.
09:36:01.898 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:36:02.902 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:36:03.905 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:04.908 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:36:05.531 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9585000028883175 m^1. Interpolating depth and velocity.
09:36:05.912 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:36:06.915 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:36:07.919 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:08.922 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:09.545 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.930543903360447 m^1. Interpolating depth and velocity.
09:36:09.926 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:36:10.928 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:36:11.932 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:36:12.534 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:12.534 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
09:36:12.554 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:12.597 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_0.raw" at altitude: Some(2.9404491772648442)
09:36:12.936 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:36:13.939 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:36:14.562 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:14.582 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:14.944 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:36:15.948 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:36:16.590 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:16.610 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:16.951 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:36:17.954 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:18.617 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:18.637 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:18.958 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:36:19.961 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:36:20.669 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:20.684 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:20.964 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:21.828 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:36:21.968 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:36:22.691 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:22.718 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:22.972 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:36:23.253 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_1.raw" at altitude: Some(3.0473106326315373)
09:36:23.975 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:36:24.718 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:24.738 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:24.979 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:36:25.862 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_4.raw" at altitude: Some(3.047188096073412)
09:36:25.982 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:26.745 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:26.765 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:26.986 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:36:27.989 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:28.460 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_7.raw" at altitude: Some(3.0206345937288304)
09:36:28.792 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:28.812 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:28.992 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:29.995 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:30.818 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:30.839 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:30.999 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:36:31.039 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_10.raw" at altitude: Some(3.013106118168344)
09:36:31.441 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:36:32.002 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:32.845 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:32.845 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:33.005 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:36:33.427 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:36:34.009 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:36:34.872 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:34.872 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:36:34.892 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:34.932 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_12.raw" at altitude: Some(2.8530285755703058)
09:36:35.012 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:36:35.915 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:36:36.015 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:36:36.918 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:36.938 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:37.018 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:36:37.099 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_13.raw" at altitude: Some(2.9607950318805214)
09:36:38.021 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:36:38.945 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:38.965 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:39.025 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:36:39.808 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_16.raw" at altitude: Some(2.9598595286397162)
09:36:40.028 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:36:40.972 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:40.992 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:41.032 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:41.253 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:36:42.035 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:36:42.457 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:36:42.998 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:43.018 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:43.038 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:36:43.640 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:36:43.862 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_19.raw" at altitude: Some(3.117854425216824)
09:36:44.041 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:44.242 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:36:45.045 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:45.045 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:45.065 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:46.048 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:36:46.570 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_21.raw" at altitude: Some(3.0552833888939777)
09:36:47.051 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:47.072 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:47.092 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:48.055 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:36:49.058 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:49.099 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:49.119 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:49.280 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_24.raw" at altitude: Some(3.0023431924537465)
09:36:49.420 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
09:36:50.062 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:36:51.066 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:36:51.126 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:51.146 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:52.069 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:36:52.932 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_25.raw" at altitude: Some(3.025303992069278)
09:36:53.072 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:36:53.173 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:53.193 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:54.075 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:36:55.078 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:36:55.199 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:55.199 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_26.raw" at altitude: Some(3.011188941364428)
09:36:55.219 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:56.082 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:36:57.085 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:36:57.226 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:57.246 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:57.347 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_27.raw" at altitude: Some(2.970988764887638)
09:36:58.088 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:36:59.091 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:36:59.252 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:36:59.272 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:36:59.393 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_28.raw" at altitude: Some(2.9360982357373446)
09:37:00.095 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:01.098 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:01.299 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:01.319 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:02.101 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:37:03.105 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:03.326 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:03.346 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:03.566 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:37:03.667 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_30.raw" at altitude: Some(3.014654792892163)
09:37:04.108 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:04.951 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:37:05.111 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:05.353 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:05.373 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:05.513 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:37:06.115 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:06.837 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:37:07.118 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:07.118 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_32.raw" at altitude: Some(2.890369353516079)
09:37:07.319 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:37:07.380 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:07.399 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:08.121 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:09.124 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:37:09.425 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:09.445 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:09.747 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_34.raw" at altitude: Some(2.9738730030833005)
09:37:10.127 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
09:37:10.950 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:37:11.130 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:11.131 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:37:11.452 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:11.472 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:12.074 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_36.raw" at altitude: Some(2.961316448051978)
09:37:12.134 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:13.137 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:37:13.478 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:13.498 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:37:13.498 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:13.980 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:37:14.140 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:14.803 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_38.raw" at altitude: Some(2.9276309548160615)
09:37:15.143 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:15.505 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:15.525 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:16.147 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:16.708 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:37:17.150 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:37:17.551 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:17.571 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:18.153 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:37:18.595 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_41.raw" at altitude: Some(3.4181419598336147)
09:37:18.595 WARN  [robot_code/peripherals/payload/src/coverage_tracker.rs:55] Sensor data is out of range
09:37:19.156 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:19.578 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:19.598 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:20.019 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:37:20.159 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:21.023 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_42.raw" at altitude: Some(3.0337930872414884)
09:37:21.163 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:21.604 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:21.625 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:22.166 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:37:23.170 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:23.190 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:37:23.631 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:23.651 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:24.173 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:25.176 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:25.678 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:25.698 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:25.698 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_45.raw" at altitude: Some(2.8774975964638583)
09:37:25.879 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:37:26.179 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:27.183 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:27.705 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:27.725 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:28.186 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:37:28.488 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_47.raw" at altitude: Some(2.9836177818984466)
09:37:29.190 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:29.739 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:29.739 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:29.932 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:37:30.193 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:37:30.995 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:37:31.196 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:31.758 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:31.778 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:32.199 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:32.561 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_50.raw" at altitude: Some(2.939138966682266)
09:37:33.202 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:33.815 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:33.825 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:34.206 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:35.209 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:37:35.229 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_53.raw" at altitude: Some(3.013381206313235)
09:37:35.831 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:35.851 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:36.212 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:37.215 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:37:37.336 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
09:37:37.857 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:37.877 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:38.218 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:37:39.221 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:37:39.883 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:39.903 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:40.224 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:37:40.692 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_56.raw" at altitude: Some(3.06013796013424)
09:37:41.227 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:41.930 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:41.950 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:42.230 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:42.793 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_57.raw" at altitude: Some(3.1022068898663706)
09:37:43.234 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:43.956 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:43.976 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:44.237 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:45.240 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:37:45.983 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:46.003 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:46.243 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:37:46.645 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_59.raw" at altitude: Some(3.020489854823664)
09:37:47.247 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:48.009 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:48.030 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:48.250 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:48.732 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_60.raw" at altitude: Some(2.9638481259599185)
09:37:49.253 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:50.056 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:50.077 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:50.256 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:50.759 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_61.raw" at altitude: Some(2.9348087042162456)
09:37:51.260 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:51.461 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:37:52.083 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:52.103 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:52.263 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:52.825 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:37:52.906 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_62.raw" at altitude: Some(2.892732640035887)
09:37:53.266 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:53.267 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:37:54.109 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:54.129 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:54.269 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:54.671 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:37:54.992 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:37:55.273 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:56.136 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:56.164 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:56.164 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_64.raw" at altitude: Some(2.9324253021056546)
09:37:56.276 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:57.279 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:58.182 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:37:58.183 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:37:58.283 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:37:58.845 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_67.raw" at altitude: Some(3.074232575757979)
09:37:59.286 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:37:59.286 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:37:59.688 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:38:00.209 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:38:00.236 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:38:00.289 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:01.292 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:01.333 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_69.raw" at altitude: Some(3.0505839906177927)
09:38:02.236 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:38:02.256 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:38:02.296 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:38:03.299 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:04.002 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_72.raw" at altitude: Some(3.0050964958921313)
09:38:04.263 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:38:04.282 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:38:04.302 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:38:05.305 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:05.807 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:38:06.051 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:38:06.309 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:06.309 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:38:06.329 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:38:07.172 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_75.raw" at altitude: Some(3.068408387591884)
09:38:07.312 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:08.315 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:38:08.335 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:38:08.355 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:38:08.937 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:38:09.318 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:38:10.321 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:10.362 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:38:10.382 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:38:11.325 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:38:12.328 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:38:12.389 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:38:12.409 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:38:12.630 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_78.raw" at altitude: Some(2.889838776352395)
09:38:12.730 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:38:13.331 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:38:14.335 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:38:14.436 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:38:14.456 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:38:15.198 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_80.raw" at altitude: Some(2.9961694411169253)
09:38:15.338 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:38:15.398 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:38:16.181 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:38:16.341 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:16.442 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:38:16.462 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:38:16.462 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:38:16.663 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:38:17.344 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:17.606 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:38:17.666 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_81.raw" at altitude: Some(3.774086286155351)
09:38:17.666 WARN  [robot_code/peripherals/payload/src/coverage_tracker.rs:55] Sensor data is out of range
09:38:17.947 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:38:18.348 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:38:18.488 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:38:18.509 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:38:19.351 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:19.692 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:38:20.254 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:38:20.354 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:38:20.515 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:38:20.535 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:38:21.237 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_83.raw" at altitude: Some(3.025735866364441)
09:38:21.357 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:21.779 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:38:22.360 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:22.561 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:38:22.581 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:38:23.363 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:24.267 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:38:24.367 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:38:24.588 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:38:24.608 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:38:25.370 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:25.631 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/1aa7a46b-10_0_x_10_0_m_Inspection/photos/mocked_image_85.raw" at altitude: Some(2.958105169766291)
09:38:26.373 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:26.494 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
09:38:26.514 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished)
09:38:26.514 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:526] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
09:38:26.534 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
09:38:26.534 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
09:38:26.534 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411454426864 0.0762679282337401,0.9084130217325306 0.0762679282337401,0.9084130217325306 0.07627047815977753,0.908411454426864 0.07627047815977753,0.908411454426864 0.0762679282337401)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:38:26.534 WARN  [robot_code/peripherals/payload/src/lib.rs:127] Payload session was dropped without being stopped, stopping it now
09:38:26.554 INFO  [robot_code/peripherals/payload/src/position_camera.rs:266] Stopping PositionCamera recording, because receiver stopped
09:38:26.554 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:176] Camera trigger responder stopped: RecvError
09:38:26.554 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:180] Stopped mocked camera recording.
09:38:26.554 ERROR [robot_code/utilities/common/src/utils/stop_running_flag.rs:105] StopRunningFlag { name: "mocked_camera_loop", id: 1, stop_running: false, do_auto_stop: true } got dropped, stopping associated threads...
09:38:26.554 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:93] Stopping StopRunningFlag { name: "mocked_camera_loop", id: 1, stop_running: false, do_auto_stop: true }...
09:38:26.574 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
09:38:26.574 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
09:38:26.574 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
09:38:26.574 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:270] Waiting for active task with spawned in Hold task 'waiting, hold position'
09:38:26.574 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:430] Discarded 0 path planner updates before receiving the expected update
09:38:26.574 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'waiting, hold position', id: f09324b3-6b66-4c40-819f-04909e480b3f)"), mode: None }
09:38:26.574 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Started)
09:38:26.604 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
09:38:26.604 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 5.062540823906475 m^1, east: 2.649043160227135 m^1, down: 1.04806029128965 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
09:38:26.604 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9955314154793795 m^1. Interpolating depth and velocity.
09:38:26.605 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Current, target_velocity: 0.5 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }], [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(0.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }]
09:38:26.605 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Preparing { lower_time_estimate: 5.2403014564482495 s^1, upper_time_estimate: 37.860452184672376 s^1 })
09:38:26.605 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })
09:38:26.614 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Preparing { lower_time_estimate: 5.2403014564482495 s^1, upper_time_estimate: 37.860452184672376 s^1 } for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
09:38:26.635 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
09:38:26.635 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })
09:38:26.654 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
09:38:27.376 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:28.380 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:38:28.682 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
09:38:28.702 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
09:38:29.384 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:38:30.086 INFO  [robot_code/utilities/simulator/src/simulator.rs:330] Simulator dropped: Simulator()
09:38:30.110 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
09:38:30.128 INFO  [robot_code/peripherals/communication/src/lib.rs:194] Shutting down gRPC server
09:38:30.133 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
09:38:30.492 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
09:38:30.907 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulated_sonar' stopped
09:38:30.907 INFO  [robot_code/robot_core/launch/src/lib.rs:508] Joined thread 'simulated_sonar'
09:38:30.907 INFO  [robot_code/robot_core/launch/src/lib.rs:504] Trying to join thread 'control'
09:38:30.907 INFO  [robot_code/robot_core/launch/src/lib.rs:508] Joined thread 'control'
09:38:30.907 INFO  [robot_code/robot_core/launch/src/lib.rs:504] Trying to join thread 'simulator'
09:38:30.907 INFO  [robot_code/robot_core/launch/src/lib.rs:508] Joined thread 'simulator'
09:38:30.907 INFO  [robot_code/robot_core/launch/src/lib.rs:504] Trying to join thread 'path_planner'
09:38:30.931 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
09:38:41.465 INFO  [robot_code/utilities/logging/src/logging.rs:93] ================================================================================
09:38:41.465 INFO  [robot_code/utilities/logging/src/logging.rs:94] Starting new Rust log session at 2025-10-29 09:38:41.465816481 +01:00
09:38:41.465 INFO  [robot_code/utilities/logging/src/logging.rs:95] ================================================================================
09:38:41.465 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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
09:38:41.465 INFO  [robot_code/utilities/logging/src/logger_manager.rs:93] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2025-10-29_09-38-41_simulated_scout.lobsterlog")
09:38:41.467 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logging/high_frequency
09:38:41.469 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: {"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_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_RPM": ThrusterModel { currents: [-19100.0, -16800.0, -15100.0, -13350.0, -11400.0, -9200.0, -6100.0, -3150.0, -1400.0, 1400.0, 3150.0, 6100.0, 9200.0, 11400.0, 13350.0, 15100.0, 16800.0, 19100.0], thrusts: [-65.6, -46.9, -36.15, -26.1, -17.71, -7.8, -2.77, -0.73, -0.01, 0.01, 0.73, 2.77, 7.8, 17.71, 26.1, 36.15, 46.9, 65.6] }, "DD50_S3_tailcone": ThrusterModel { currents: [-25.0, -24.0, -22.0, -20.0, -18.0, -16.0, -14.0, -12.0, -10.0, -8.0, -6.0, -4.0, -2.0, -0.3, 0.3, 2.0, 4.0, 6.0, 8.0, 10.0, 12.0, 14.0, 16.0, 18.0, 20.0, 22.0, 24.0, 25.0], thrusts: [-25.09, -23.83, -21.52, -19.0, -16.96, -15.1, -12.9, -11.11, -9.28, -7.05, -5.04, -2.79, -0.6, -0.01, 0.01, 0.78, 2.64, 4.89, 7.3, 9.9, 12.3, 14.44, 16.54, 18.76, 21.31, 23.6, 25.3, 26.24] }}, 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 } }, enabled: true, request_server: RequestServer { port: 10820 }, standard_ui_settings_whitelist: ["task_scheduler/waiting_hold_duration_seconds", "task_scheduler/excessive_current_handling/trigger_count_limit_per_survey", "task_scheduler/task_settings/max_horizontal_distance_to_start_meters", "task_scheduler/task_settings/move_to/preferred_velocity_meter_per_second"], extended_ui_settings_whitelist: ["actuation/max_current_change_per_second", "camera/use_mocked", "communication/state_update_frequency_hz", "communication/task_overview_update_frequency_hz", "control/frequency", "active_profile", "path_planner", "robot", "safety/min_cell_voltage", "safety/max_battery_temperature", "safety/min_altitude", "safety/max_altitude", "safety/altitude_safety_fallback_buffer", "safety/altitude_setpoint_buffer", "safety/max_expected_sea_floor_depth", "safety/min_expected_sea_floor_depth", "safety/max_update_dt", "safety/max_thruster_temp", "safety/max_thruster_disconnect_time", "safety/min_dvl_altitude_working", "safety/min_dvl_depth_working", "safety/max_roll_error_degrees", "safety/roll_safety_fallback_buffer_degrees", "safety/roll_safety_fallback_max_duration_seconds", "safety/max_pitch_error_degrees", "safety/max_position_error_meters", "sensors/imu/frequency", "sensors/nortek_dvl/start_measuring_pressure_only", "sensors/nortek_dvl/dvl_settings/led", "sensors/nortek_dvl/dvl_settings/record_199_data", "sensors/nortek_dvl/dvl_settings/measuring_mode", "sensors/nortek_dvl/dvl_settings/sample_rate", "sensors/nortek_dvl/dvl_settings/cp_sample_interval", "sensors/nortek_dvl/dvl_settings/salinity", "sensors/nortek_dvl/dvl_settings/bt_range", "sensors/nortek_dvl/dvl_settings/bt_max_along_beam_velocity", "state_estimation", "task_scheduler"], state_update_frequency_hz: BroadcastFrequencyHz { max: 20.0, min: 0.01, standard: 10.0 }, task_overview_update_frequency_hz: BroadcastFrequencyHz { max: 5.0, min: 0.001, standard: 1.0 } }, control: ControlSettings { frequency: 100.0, model: ControlModel { d_linear: [[2.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 40.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 40.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]], d_quadratic: [[55.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 400.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 400.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 4.882, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 80.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 80.0]], damping_x_asym: 0.0, m_a: [[2.27703, 0.0, 0.0, 0.0, -0.00977, -0.0], [0.0, 66.39192, 0.0, 0.07973, 0.0, -0.38227], [0.0, 0.0, 65.93975, 0.0, 0.4623, -0.0], [0.0, 0.07973, 0.0, 0.72, 0.0, 0.01411], [-0.00977, 0.0, 0.4623, 0.0, 19.17022, -0.0], [-0.0, -0.38227, -0.0, 0.01411, -0.0, 19.18307]], modules: Modules { module_configuration: ["scout_3"], modules: {"scout_3": ModuleInformation { center_of_mass: [1.00235121, 0.00123998, 0.00154298], center_of_volume: [0.99326563, -1.34e-6, -0.0], length: 1.91214, mass: 52.44353958, moment_of_inertia: [[0.26065892, 0.00607949, -0.00522948], [0.00607949, 12.7208684, 0.00011234], [-0.00522948, 0.00011234, 12.69270147]], name: "scout_3", poi: Some({"sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086]}), 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: true, 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: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, 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 } }
09:38:41.555 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086]})
09:38:41.555 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
09:38:41.556 INFO  [robot_code/utilities/simulator/src/simulator.rs:89] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, 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 } }
09:38:41.699 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086]})
09:38:41.699 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
09:38:42.232 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086]})
09:38:42.232 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
09:38:42.232 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
09:38:42.233 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
09:38:42.233 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
09:38:42.233 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
09:38:42.233 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
09:38:42.233 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
09:38:42.233 WARN  [robot_code/robot_core/launch/src/lib.rs:521] IMU not enabled
09:38:42.233 WARN  [robot_code/robot_core/launch/src/lib.rs:539] Magnetometer not enabled
09:38:42.233 WARN  [robot_code/robot_core/launch/src/lib.rs:179] Magnetometer not enabled, state estimation will not be able to use it
09:38:42.233 WARN  [robot_code/robot_core/launch/src/lib.rs:595] Nortek DVL not enabled
09:38:42.233 WARN  [robot_code/robot_core/launch/src/lib.rs:574] GPS not enabled
09:38:42.233 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
09:38:42.233 DEBUG [robot_code/peripherals/actuation/src/lib.rs:231] Started simulated thruster module
09:38:42.234 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_range_image
09:38:42.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_intensity_image
09:38:42.238 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulated_sonar
09:38:42.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulated_sonar' with StopRunningFlag { name: "simulated_sonar", id: 0, stop_running: false, do_auto_stop: true }
09:38:42.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulated_sonar' successfully started
09:38:42.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
09:38:42.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulated_sonar with pid: 61720
09:38:42.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
09:38:42.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
09:38:42.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
09:38:42.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
09:38:42.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
09:38:42.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
09:38:42.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
09:38:42.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
09:38:42.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
09:38:42.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
09:38:42.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
09:38:42.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
09:38:42.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
09:38:42.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
09:38:42.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
09:38:42.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
09:38:42.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
09:38:42.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
09:38:42.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
09:38:42.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
09:38:42.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
09:38:42.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
09:38:42.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
09:38:42.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
09:38:42.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
09:38:42.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
09:38:42.241 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "dvl_location": [1.3305, 0.0, 0.0176], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086]})
09:38:42.241 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
09:38:42.241 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
09:38:42.241 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 }
09:38:42.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
09:38:42.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
09:38:42.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 61748
09:38:42.241 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Control starting...
09:38:42.241 INFO  [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0
09:38:42.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
09:38:42.242 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
09:38:42.251 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
09:38:42.251 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 }
09:38:42.251 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
09:38:42.251 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 61752
09:38:42.281 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
09:38:42.351 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
09:38:42.351 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop
09:38:42.351 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 }
09:38:42.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
09:38:42.351 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
09:38:42.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: payload_sessions
09:38:42.351 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 61759
09:38:42.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
09:38:42.372 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
09:38:42.372 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 }
09:38:42.372 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
09:38:42.372 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 61762
09:38:42.372 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
09:38:42.372 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/active_tasks
09:38:42.373 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
09:38:42.373 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 }
09:38:42.373 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
09:38:42.373 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
09:38:42.373 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
09:38:42.373 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 61813
09:38:42.373 INFO  [robot_code/peripherals/communication/src/lib.rs:98] grpc listening on 0.0.0.0:10820
09:38:42.373 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
09:38:42.373 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
09:38:42.373 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
09:38:42.373 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
09:38:42.373 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
09:38:42.373 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 }
09:38:42.373 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
09:38:42.373 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
09:38:42.373 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 }
09:38:42.373 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 61818
09:38:42.374 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
09:38:42.374 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 61819
09:38:42.374 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
09:38:42.374 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 }
09:38:42.374 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
09:38:42.374 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 61820
09:38:42.391 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:38:42.392 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
09:38:42.392 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for hardware_checks
09:38:42.394 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
09:38:42.394 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
09:38:42.394 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_service
09:38:42.394 INFO  [robot_code/peripherals/communication/src/sonar_service.rs:48] Creating sonar service
09:38:42.394 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.
09:38:42.395 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
09:38:42.395 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 }
09:38:42.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
09:38:42.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 61822
09:38:42.395 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
09:38:42.395 INFO  [robot_code/robot_core/launch/src/lib.rs:494] Waiting until code stops running so threads can be joined
09:38:42.395 INFO  [robot_code/robot_core/launch/src/lib.rs:504] Trying to join thread 'simulated_sonar'
09:38:42.395 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces
09:38:42.395 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"]
09:38:42.419 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:38:42.432 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:38:42.432 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:38:42.486 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:38:42.489 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {"sensors": Object {"magnetometer": Object {"magA": Array [Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0)], "magB": Array [Number(0.0), Number(1.0), Number(0.0)]}}}
09:38:42.489 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'device_settings'. Description: Dynamic device specific settings. During runtime, these settings can be changed either by the user or by the robot itself.
09:38:42.491 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {}
09:38:42.491 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'default'. Description: 
09:38:42.492 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:38:42.492 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:38:42.620 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_state", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:38:43.274 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 45.86Hz
09:38:44.277 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:38:44.434 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "get_task_queue", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:38:44.912 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:38:44.912 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:38:45.281 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:38:46.285 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:38:47.289 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:38:48.292 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:38:49.296 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:38:50.299 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:51.304 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:38:52.307 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:53.310 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:38:54.314 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:55.318 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:38:56.322 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:38:57.325 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:38:58.330 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:38:59.334 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
09:39:00.337 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:39:01.340 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:39:02.345 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:39:03.348 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:39:04.351 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:39:05.355 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:39:06.358 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:39:07.364 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.70Hz
09:39:08.367 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:39:09.370 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:39:10.373 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:39:11.378 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.76Hz
09:39:12.381 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:39:13.386 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:39:14.392 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.69Hz
09:39:15.396 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:39:15.717 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: '10.0 x 10.0 m Inspection')
09:39:15.717 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
09:39:16.399 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:39:16.660 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
09:39:16.660 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
09:39:16.661 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:576] Starting a Upright task 'Upright task'
09:39:16.711 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
09:39:16.711 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 8538931e-032e-4a85-983b-e86fc00689e7, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
09:39:16.711 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [DirectControl(ControlGoalWithMeta { id: 8538931e-032e-4a85-983b-e86fc00689e7, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
09:39:16.721 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 8538931e-032e-4a85-983b-e86fc00689e7, start_time: Some(34.26 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started)
09:39:16.721 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:430] Discarded 0 path planner updates before receiving the expected update
09:39:16.721 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Upright, name: 'Upright task', id: 3f30203b-4fac-4b71-b184-7ee2a62e22b0)"), mode: None }
09:39:16.731 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.09849690935815267, Enable control depth: 0.2, Depth control enabled: true
09:39:16.731 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
09:39:16.731 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
09:39:16.731 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 8538931e-032e-4a85-983b-e86fc00689e7, start_time: Some(34.26 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished)
09:39:16.731 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09849690935815267 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
09:39:16.741 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 8538931e-032e-4a85-983b-e86fc00689e7, start_time: Some(34.26 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })
09:39:16.741 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:576] Starting a SurveyArea task '10.0 x 10.0 m Inspection'
09:39:16.751 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
09:39:16.751 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
09:39:16.771 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
09:39:16.771 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
09:39:16.771 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
09:39:16.772 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:430] Discarded 0 path planner updates before receiving the expected update
09:39:16.772 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: '10.0 x 10.0 m Inspection', id: b3b4bced-53cf-4743-ba36-cfceba608dfa)"), mode: None }
09:39:16.772 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:33] StopRunningFlag created with ID: 1
09:39:16.772 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 1 cloned for mocked_camera_state
09:39:16.811 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1432303179206036 m^1. Interpolating depth and velocity.
09:39:16.811 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.09849408340260161, Enable control depth: 0.2, Depth control enabled: true
09:39:16.812 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09849408340260161 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
09:39:16.812 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.4289169610375958 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -5.040338779633508 m^1, east: -2.5252410551077418 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -5.040338779633508 m^1, east: -2.5252410551077418 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(3.0 m^1), orientation_point: None, hold_duration: None } }], [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.040338779633508 m^1, east: -2.5252410551077418 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 5.162738924080863 m^1, east: -2.5252410551077418 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 3.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.162738924080863 m^1, east: 0.051003650774610776 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -5.040338779633508 m^1, east: 0.051003650774610776 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 3.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.040338779633508 m^1, east: 2.6272483566569633 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 5.162738953883186 m^1, east: 2.6272483566569633 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 3.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }]
09:39:16.812 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
09:39:16.812 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing { lower_time_estimate: 67.39298780609906 s^1, upper_time_estimate: 221.08948170914857 s^1 })
09:39:16.812 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
09:39:16.812 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
09:39:16.823 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Preparing { lower_time_estimate: 67.39298780609906 s^1, upper_time_estimate: 221.08948170914857 s^1 } for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:39:17.403 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:39:17.624 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:426] Details: Current depth goal: 0.20471116551366464, Enable control depth: 0.2, Depth control enabled: false
09:39:17.624 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:159] Enabling depth control and reset z-velocity PID controller
09:39:18.406 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:39:19.169 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:197] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
09:39:19.409 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:39:20.413 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:39:20.815 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1477314000822476 m^1. Interpolating depth and velocity.
09:39:21.417 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:39:22.421 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:39:23.424 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:39:24.427 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:39:24.831 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1398353786777609 m^1. Interpolating depth and velocity.
09:39:25.430 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:39:26.433 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:39:27.436 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:39:28.439 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:39:28.841 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9578584944989474 m^1. Interpolating depth and velocity.
09:39:29.443 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:39:30.446 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:39:31.449 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:39:32.452 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:39:32.854 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9308334286942497 m^1. Interpolating depth and velocity.
09:39:33.457 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:39:34.462 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
09:39:35.466 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:39:35.868 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:39:35.868 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
09:39:35.888 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:39:35.930 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/b3b4bced-10_0_x_10_0_m_Inspection/photos/mocked_image_0.raw" at altitude: Some(2.941606563918349)
09:39:36.470 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:39:37.474 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:39:37.896 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:39:37.916 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:39:38.477 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:39:39.481 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:39:39.925 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:39:39.945 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:39:40.486 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
09:39:41.491 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:39:41.953 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:39:41.973 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:39:42.495 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:39:43.498 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:39:44.000 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:39:44.020 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:39:44.501 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:39:45.152 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:39:45.505 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:39:46.028 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:39:46.028 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:39:46.509 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:39:46.569 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/b3b4bced-10_0_x_10_0_m_Inspection/photos/mocked_image_1.raw" at altitude: Some(3.048567244066064)
09:39:47.512 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:39:47.854 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:39:48.015 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:39:48.054 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:39:48.075 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:39:48.515 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:39:48.697 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/b3b4bced-10_0_x_10_0_m_Inspection/photos/mocked_image_3.raw" at altitude: Some(3.067800165496266)
09:39:49.519 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:39:50.081 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:39:50.102 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:39:50.524 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.73Hz
09:39:51.527 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:39:51.528 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/b3b4bced-10_0_x_10_0_m_Inspection/photos/mocked_image_6.raw" at altitude: Some(3.0059217315919455)
09:39:52.129 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:39:52.150 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:39:52.531 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:39:53.534 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:39:54.156 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:39:54.156 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/b3b4bced-10_0_x_10_0_m_Inspection/photos/mocked_image_9.raw" at altitude: Some(3.0635650356284634)
09:39:54.176 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:39:54.537 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:39:55.341 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:39:55.541 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:39:56.183 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:39:56.204 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:39:56.544 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:39:57.147 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/b3b4bced-10_0_x_10_0_m_Inspection/photos/mocked_image_11.raw" at altitude: Some(2.876805376019106)
09:39:57.307 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:39:57.547 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:39:58.210 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:39:58.232 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:39:58.551 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:39:58.752 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:39:59.555 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:39:59.776 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:40:00.258 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:40:00.278 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:40:00.558 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:40:01.040 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/b3b4bced-10_0_x_10_0_m_Inspection/photos/mocked_image_13.raw" at altitude: Some(2.9682974652430434)
09:40:01.563 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:40:02.286 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:40:02.306 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:40:02.566 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:40:03.570 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:40:03.751 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/b3b4bced-10_0_x_10_0_m_Inspection/photos/mocked_image_16.raw" at altitude: Some(2.949245304238279)
09:40:04.312 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:40:04.333 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:40:04.573 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:40:05.095 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:40:05.577 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:40:06.018 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/b3b4bced-10_0_x_10_0_m_Inspection/photos/mocked_image_18.raw" at altitude: Some(3.1347165882913646)
09:40:06.279 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:40:06.339 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:40:06.359 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114579175213 0.07626792299775156,0.9084130269685189 0.07626792299775156,0.9084130269685189 0.076270472923789,0.9084114579175213 0.076270472923789,0.9084114579175213 0.07626792299775156)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:40:06.580 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:40:07.423 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:40:07.583 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:40:07.647 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread 'simulator' panicked at 'called `Result::unwrap()` on an `Err` value: Error { ctx: "Not connected to physics server" }': robot_code/utilities/simulator/src/pybullet_api.rs:152
   0: log_panics::Config::install_panic_hook::{{closure}}

09:40:37.307 INFO  [robot_code/utilities/logging/src/logging.rs:93] ================================================================================
09:40:37.307 INFO  [robot_code/utilities/logging/src/logging.rs:94] Starting new Rust log session at 2025-10-29 09:40:37.307303957 +01:00
09:40:37.307 INFO  [robot_code/utilities/logging/src/logging.rs:95] ================================================================================
09:40:37.307 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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
09:40:37.307 INFO  [robot_code/utilities/logging/src/logger_manager.rs:93] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2025-10-29_09-40-37_simulated_scout.lobsterlog")
09:40:37.309 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logging/high_frequency
09:40:37.310 INFO  [robot_code/robot_core/launch/src/lib.rs:133] Launching robot code with following settings:
Settings { actuation: ActuationSettings { max_current_change_per_second: 200.0, thruster_models: {"DD80_S3_tailcone_RPM": ThrusterModel { currents: [-19100.0, -16800.0, -15100.0, -13350.0, -11400.0, -9200.0, -6100.0, -3150.0, -1400.0, 1400.0, 3150.0, 6100.0, 9200.0, 11400.0, 13350.0, 15100.0, 16800.0, 19100.0], thrusts: [-65.6, -46.9, -36.15, -26.1, -17.71, -7.8, -2.77, -0.73, -0.01, 0.01, 0.73, 2.77, 7.8, 17.71, 26.1, 36.15, 46.9, 65.6] }, "DD50_S3_tailcone": ThrusterModel { currents: [-25.0, -24.0, -22.0, -20.0, -18.0, -16.0, -14.0, -12.0, -10.0, -8.0, -6.0, -4.0, -2.0, -0.3, 0.3, 2.0, 4.0, 6.0, 8.0, 10.0, 12.0, 14.0, 16.0, 18.0, 20.0, 22.0, 24.0, 25.0], thrusts: [-25.09, -23.83, -21.52, -19.0, -16.96, -15.1, -12.9, -11.11, -9.28, -7.05, -5.04, -2.79, -0.6, -0.01, 0.01, 0.78, 2.64, 4.89, 7.3, 9.9, 12.3, 14.44, 16.54, 18.76, 21.31, 23.6, 25.3, 26.24] }, "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] }}, 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 } }, enabled: true, request_server: RequestServer { port: 10820 }, standard_ui_settings_whitelist: ["task_scheduler/waiting_hold_duration_seconds", "task_scheduler/excessive_current_handling/trigger_count_limit_per_survey", "task_scheduler/task_settings/max_horizontal_distance_to_start_meters", "task_scheduler/task_settings/move_to/preferred_velocity_meter_per_second"], extended_ui_settings_whitelist: ["actuation/max_current_change_per_second", "camera/use_mocked", "communication/state_update_frequency_hz", "communication/task_overview_update_frequency_hz", "control/frequency", "active_profile", "path_planner", "robot", "safety/min_cell_voltage", "safety/max_battery_temperature", "safety/min_altitude", "safety/max_altitude", "safety/altitude_safety_fallback_buffer", "safety/altitude_setpoint_buffer", "safety/max_expected_sea_floor_depth", "safety/min_expected_sea_floor_depth", "safety/max_update_dt", "safety/max_thruster_temp", "safety/max_thruster_disconnect_time", "safety/min_dvl_altitude_working", "safety/min_dvl_depth_working", "safety/max_roll_error_degrees", "safety/roll_safety_fallback_buffer_degrees", "safety/roll_safety_fallback_max_duration_seconds", "safety/max_pitch_error_degrees", "safety/max_position_error_meters", "sensors/imu/frequency", "sensors/nortek_dvl/start_measuring_pressure_only", "sensors/nortek_dvl/dvl_settings/led", "sensors/nortek_dvl/dvl_settings/record_199_data", "sensors/nortek_dvl/dvl_settings/measuring_mode", "sensors/nortek_dvl/dvl_settings/sample_rate", "sensors/nortek_dvl/dvl_settings/cp_sample_interval", "sensors/nortek_dvl/dvl_settings/salinity", "sensors/nortek_dvl/dvl_settings/bt_range", "sensors/nortek_dvl/dvl_settings/bt_max_along_beam_velocity", "state_estimation", "task_scheduler"], state_update_frequency_hz: BroadcastFrequencyHz { max: 20.0, min: 0.01, standard: 10.0 }, task_overview_update_frequency_hz: BroadcastFrequencyHz { max: 5.0, min: 0.001, standard: 1.0 } }, control: ControlSettings { frequency: 100.0, model: ControlModel { d_linear: [[2.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 40.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 40.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]], d_quadratic: [[55.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 400.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 400.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 4.882, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 80.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 80.0]], damping_x_asym: 0.0, m_a: [[2.27703, 0.0, 0.0, 0.0, -0.00977, -0.0], [0.0, 66.39192, 0.0, 0.07973, 0.0, -0.38227], [0.0, 0.0, 65.93975, 0.0, 0.4623, -0.0], [0.0, 0.07973, 0.0, 0.72, 0.0, 0.01411], [-0.00977, 0.0, 0.4623, 0.0, 19.17022, -0.0], [-0.0, -0.38227, -0.0, 0.01411, -0.0, 19.18307]], modules: Modules { module_configuration: ["scout_3"], modules: {"scout_3": ModuleInformation { center_of_mass: [1.00235121, 0.00123998, 0.00154298], center_of_volume: [0.99326563, -1.34e-6, -0.0], length: 1.91214, mass: 52.44353958, moment_of_inertia: [[0.26065892, 0.00607949, -0.00522948], [0.00607949, 12.7208684, 0.00011234], [-0.00522948, 0.00011234, 12.69270147]], name: "scout_3", poi: Some({"sonar_location": [1.81926, 0.0, 0.00717], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066]}), 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: true, 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: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, visualize_beams: true }, 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 } }
09:40:37.387 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066]})
09:40:37.387 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
09:40:37.388 INFO  [robot_code/utilities/simulator/src/simulator.rs:89] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, visualize_beams: true }, 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 } }
09:40:37.497 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "imu_location": [1.22915, -0.07144, -0.03025], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066]})
09:40:37.497 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
09:40:48.378 INFO  [robot_code/utilities/logging/src/logging.rs:93] ================================================================================
09:40:48.379 INFO  [robot_code/utilities/logging/src/logging.rs:94] Starting new Rust log session at 2025-10-29 09:40:48.379017917 +01:00
09:40:48.379 INFO  [robot_code/utilities/logging/src/logging.rs:95] ================================================================================
09:40:48.379 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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
09:40:48.379 INFO  [robot_code/utilities/logging/src/logger_manager.rs:93] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2025-10-29_09-40-48_simulated_scout.lobsterlog")
09:40:48.380 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logging/high_frequency
09:40:48.381 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] }, "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": ThrusterModel { currents: [-20.0, -18.0, -16.0, -14.0, -12.0, -10.0, -8.0, -6.0, -4.0, -2.0, -0.3, 0.3, 2.0, 4.0, 6.0, 8.0, 10.0, 12.0, 14.0, 16.0, 18.0, 20.0], thrusts: [-36.15, -31.34, -26.1, -22.34, -17.71, -13.05, -7.8, -4.95, -2.77, -0.73, -0.01, 0.01, 0.73, 2.77, 4.95, 7.8, 13.05, 17.71, 22.34, 26.1, 31.34, 36.15] }, "DD80_S3_tailcone_RPM": ThrusterModel { currents: [-19100.0, -16800.0, -15100.0, -13350.0, -11400.0, -9200.0, -6100.0, -3150.0, -1400.0, 1400.0, 3150.0, 6100.0, 9200.0, 11400.0, 13350.0, 15100.0, 16800.0, 19100.0], thrusts: [-65.6, -46.9, -36.15, -26.1, -17.71, -7.8, -2.77, -0.73, -0.01, 0.01, 0.73, 2.77, 7.8, 17.71, 26.1, 36.15, 46.9, 65.6] }, "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] }}, 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 } }, 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({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]}), 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: true, 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: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, 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 } }
09:40:48.452 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
09:40:48.452 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
09:40:48.453 INFO  [robot_code/utilities/simulator/src/simulator.rs:89] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, 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 } }
09:40:48.572 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
09:40:48.572 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
09:40:48.912 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
09:40:48.912 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
09:40:48.912 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
09:40:48.912 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
09:40:48.912 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
09:40:48.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
09:40:48.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
09:40:48.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
09:40:48.913 WARN  [robot_code/robot_core/launch/src/lib.rs:521] IMU not enabled
09:40:48.913 WARN  [robot_code/robot_core/launch/src/lib.rs:539] Magnetometer not enabled
09:40:48.913 WARN  [robot_code/robot_core/launch/src/lib.rs:179] Magnetometer not enabled, state estimation will not be able to use it
09:40:48.913 WARN  [robot_code/robot_core/launch/src/lib.rs:595] Nortek DVL not enabled
09:40:48.913 WARN  [robot_code/robot_core/launch/src/lib.rs:574] GPS not enabled
09:40:48.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
09:40:48.913 DEBUG [robot_code/peripherals/actuation/src/lib.rs:231] Started simulated thruster module
09:40:48.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_range_image
09:40:48.916 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_intensity_image
09:40:48.918 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulated_sonar
09:40:48.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulated_sonar' with StopRunningFlag { name: "simulated_sonar", id: 0, stop_running: false, do_auto_stop: true }
09:40:48.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulated_sonar' successfully started
09:40:48.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
09:40:48.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulated_sonar with pid: 63234
09:40:48.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
09:40:48.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
09:40:48.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
09:40:48.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
09:40:48.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
09:40:48.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
09:40:48.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
09:40:48.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
09:40:48.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
09:40:48.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
09:40:48.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
09:40:48.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
09:40:48.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
09:40:48.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
09:40:48.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
09:40:48.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
09:40:48.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
09:40:48.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
09:40:48.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
09:40:48.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
09:40:48.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
09:40:48.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
09:40:48.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
09:40:48.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
09:40:48.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
09:40:48.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
09:40:48.920 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"main_forwards_thruster_location": [0.0, 0.0, 0.0], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
09:40:48.920 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
09:40:48.920 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
09:40:48.920 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 }
09:40:48.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
09:40:48.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
09:40:48.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 63262
09:40:48.920 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Control starting...
09:40:48.920 INFO  [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0
09:40:48.921 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
09:40:48.921 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
09:40:48.930 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
09:40:48.931 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 }
09:40:48.931 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
09:40:48.931 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 63266
09:40:48.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
09:40:49.019 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
09:40:49.019 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop
09:40:49.019 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 }
09:40:49.019 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
09:40:49.019 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
09:40:49.019 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: payload_sessions
09:40:49.019 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 63268
09:40:49.039 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
09:40:49.040 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
09:40:49.040 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 }
09:40:49.040 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
09:40:49.040 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 63271
09:40:49.040 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
09:40:49.040 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/active_tasks
09:40:49.041 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
09:40:49.041 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 }
09:40:49.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
09:40:49.041 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
09:40:49.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 63322
09:40:49.041 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
09:40:49.041 INFO  [robot_code/peripherals/communication/src/lib.rs:98] grpc listening on 0.0.0.0:10820
09:40:49.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
09:40:49.041 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
09:40:49.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
09:40:49.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
09:40:49.041 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
09:40:49.041 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 }
09:40:49.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
09:40:49.041 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
09:40:49.041 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 }
09:40:49.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 63327
09:40:49.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
09:40:49.041 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
09:40:49.041 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 }
09:40:49.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 63328
09:40:49.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
09:40:49.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 63329
09:40:49.059 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:40:49.059 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
09:40:49.059 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for hardware_checks
09:40:49.061 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
09:40:49.061 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
09:40:49.061 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_service
09:40:49.061 INFO  [robot_code/peripherals/communication/src/sonar_service.rs:48] Creating sonar service
09:40:49.061 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.
09:40:49.061 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
09:40:49.062 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 }
09:40:49.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
09:40:49.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 63331
09:40:49.062 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
09:40:49.062 INFO  [robot_code/robot_core/launch/src/lib.rs:494] Waiting until code stops running so threads can be joined
09:40:49.062 INFO  [robot_code/robot_core/launch/src/lib.rs:504] Trying to join thread 'simulated_sonar'
09:40:49.062 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces
09:40:49.062 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"]
09:40:49.085 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:40:49.100 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:40:49.100 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:40:49.286 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:40:49.288 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {"sensors": Object {"magnetometer": Object {"magA": Array [Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0)], "magB": Array [Number(0.0), Number(1.0), Number(0.0)]}}}
09:40:49.288 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'device_settings'. Description: Dynamic device specific settings. During runtime, these settings can be changed either by the user or by the robot itself.
09:40:49.289 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {}
09:40:49.289 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'default'. Description: 
09:40:49.300 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:40:49.300 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:40:49.386 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_state", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:40:49.962 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 46.47Hz
09:40:50.965 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:40:51.101 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "get_task_queue", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:40:51.969 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:40:52.972 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:40:53.975 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:40:54.298 WARN  [robot_code/peripherals/communication/src/sonar_service.rs:79] Sending request to sonar timed out: TimeoutError { _private: () }
09:40:54.978 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:40:55.413 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:40:55.615 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:40:55.981 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:40:56.849 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:40:56.984 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:40:57.050 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_intensities", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:40:57.987 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:40:58.992 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:40:59.996 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:41:00.436 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:41:00.638 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:00.999 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:41:01.873 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:41:02.005 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.74Hz
09:41:02.075 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_intensities", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:03.008 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:41:04.012 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:41:05.016 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:41:05.460 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:41:05.662 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:06.020 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:41:06.896 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:41:07.023 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:41:07.097 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_intensities", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:08.027 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:41:09.032 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:41:10.036 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:41:10.484 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:41:10.686 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:11.041 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.74Hz
09:41:11.919 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:41:12.045 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:41:12.120 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_intensities", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:13.049 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:41:14.053 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:41:15.057 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:41:15.507 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:41:15.708 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:16.062 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:41:16.944 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:41:17.068 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.68Hz
09:41:17.145 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_intensities", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:18.074 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.73Hz
09:41:19.079 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.73Hz
09:41:20.084 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.74Hz
09:41:20.530 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:41:20.731 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:21.089 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
09:41:21.967 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:41:22.093 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:41:22.168 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_intensities", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:23.097 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:41:24.103 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.70Hz
09:41:25.106 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:41:25.555 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:41:25.755 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:26.110 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:41:26.990 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:41:27.113 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:41:27.191 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_intensities", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:28.116 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:41:29.119 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:41:30.122 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:41:30.578 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:41:30.779 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:31.127 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:41:32.014 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:41:32.131 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:41:32.216 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_intensities", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:33.134 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:41:34.138 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:41:35.141 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:41:35.610 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:41:35.812 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:36.145 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:41:37.039 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:41:37.149 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:41:37.240 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_intensities", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:38.152 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:41:39.156 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:41:40.160 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:41:40.634 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:41:40.836 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:41.167 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.62Hz
09:41:42.062 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:41:42.177 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.53Hz
09:41:42.263 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_intensities", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:43.185 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 48.62Hz
09:41:44.200 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.23Hz
09:41:45.204 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:41:45.660 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:41:45.861 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:46.207 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:41:47.085 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:41:47.215 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.62Hz
09:41:47.287 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_intensities", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:48.224 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.55Hz
09:41:49.233 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.57Hz
09:41:50.238 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.71Hz
09:41:50.684 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:41:50.885 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:51.242 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:41:52.115 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:41:52.246 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:41:52.316 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_intensities", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:53.249 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:41:54.253 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:41:55.261 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.64Hz
09:41:55.723 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:41:55.924 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:56.268 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.58Hz
09:41:57.138 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:41:57.275 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.65Hz
09:41:57.339 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_intensities", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:41:58.280 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:41:59.284 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:42:00.288 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:42:00.747 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:42:00.949 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:42:01.292 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:42:02.162 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:42:02.297 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.76Hz
09:42:02.364 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_intensities", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:42:03.301 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:42:03.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
09:42:03.963 INFO  [robot_code/utilities/simulator/src/simulator.rs:330] Simulator dropped: Simulator()
09:42:04.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
09:42:04.097 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
09:42:04.143 INFO  [robot_code/peripherals/communication/src/lib.rs:194] Shutting down gRPC server
09:42:13.158 INFO  [robot_code/utilities/logging/src/logging.rs:93] ================================================================================
09:42:13.158 INFO  [robot_code/utilities/logging/src/logging.rs:94] Starting new Rust log session at 2025-10-29 09:42:13.158779069 +01:00
09:42:13.158 INFO  [robot_code/utilities/logging/src/logging.rs:95] ================================================================================
09:42:13.158 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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
09:42:13.158 INFO  [robot_code/utilities/logging/src/logger_manager.rs:93] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2025-10-29_09-42-13_simulated_scout.lobsterlog")
09:42:13.165 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logging/high_frequency
09:42:13.166 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: {"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] }, "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_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_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: {"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 } }, 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], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]}), 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: true, 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: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, 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 } }
09:42:13.236 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], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
09:42:13.236 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
09:42:13.237 INFO  [robot_code/utilities/simulator/src/simulator.rs:89] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, 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 } }
09:42:13.377 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], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
09:42:13.378 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
09:42:13.720 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], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
09:42:13.720 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
09:42:13.720 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
09:42:13.720 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
09:42:13.720 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
09:42:13.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
09:42:13.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
09:42:13.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
09:42:13.721 WARN  [robot_code/robot_core/launch/src/lib.rs:521] IMU not enabled
09:42:13.721 WARN  [robot_code/robot_core/launch/src/lib.rs:539] Magnetometer not enabled
09:42:13.721 WARN  [robot_code/robot_core/launch/src/lib.rs:179] Magnetometer not enabled, state estimation will not be able to use it
09:42:13.721 WARN  [robot_code/robot_core/launch/src/lib.rs:595] Nortek DVL not enabled
09:42:13.721 WARN  [robot_code/robot_core/launch/src/lib.rs:574] GPS not enabled
09:42:13.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
09:42:13.721 DEBUG [robot_code/peripherals/actuation/src/lib.rs:231] Started simulated thruster module
09:42:13.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_range_image
09:42:13.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_intensity_image
09:42:13.730 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulated_sonar
09:42:13.730 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulated_sonar' with StopRunningFlag { name: "simulated_sonar", id: 0, stop_running: false, do_auto_stop: true }
09:42:13.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulated_sonar' successfully started
09:42:13.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
09:42:13.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulated_sonar with pid: 67223
09:42:13.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
09:42:13.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
09:42:13.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
09:42:13.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
09:42:13.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
09:42:13.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
09:42:13.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
09:42:13.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
09:42:13.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
09:42:13.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
09:42:13.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
09:42:13.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
09:42:13.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
09:42:13.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
09:42:13.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
09:42:13.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
09:42:13.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
09:42:13.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
09:42:13.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
09:42:13.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
09:42:13.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
09:42:13.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
09:42:13.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
09:42:13.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
09:42:13.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
09:42:13.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
09:42:13.734 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], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "camera_front_location": [1.1187, 0.0, 0.0066], "imu_location": [1.22915, -0.07144, -0.03025], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
09:42:13.734 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
09:42:13.734 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
09:42:13.734 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 }
09:42:13.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
09:42:13.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
09:42:13.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 67251
09:42:13.734 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Control starting...
09:42:13.734 INFO  [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0
09:42:13.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
09:42:13.735 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
09:42:13.744 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
09:42:13.744 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 }
09:42:13.744 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
09:42:13.744 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 67255
09:42:13.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
09:42:13.853 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
09:42:13.853 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop
09:42:13.853 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 }
09:42:13.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
09:42:13.853 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
09:42:13.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: payload_sessions
09:42:13.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 67257
09:42:13.873 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
09:42:13.874 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
09:42:13.874 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 }
09:42:13.874 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
09:42:13.874 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 67260
09:42:13.874 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
09:42:13.875 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/active_tasks
09:42:13.876 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
09:42:13.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true }
09:42:13.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
09:42:13.876 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
09:42:13.876 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
09:42:13.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 67311
09:42:13.876 INFO  [robot_code/peripherals/communication/src/lib.rs:98] grpc listening on 0.0.0.0:10820
09:42:13.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
09:42:13.877 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
09:42:13.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
09:42:13.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
09:42:13.877 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
09:42:13.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true }
09:42:13.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
09:42:13.877 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
09:42:13.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true }
09:42:13.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 67316
09:42:13.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
09:42:13.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 67317
09:42:13.877 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
09:42:13.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true }
09:42:13.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
09:42:13.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 67318
09:42:13.894 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:42:13.894 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
09:42:13.894 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for hardware_checks
09:42:13.896 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
09:42:13.896 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
09:42:13.896 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_service
09:42:13.896 INFO  [robot_code/peripherals/communication/src/sonar_service.rs:48] Creating sonar service
09:42:13.896 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.
09:42:13.897 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
09:42:13.897 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true }
09:42:13.897 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
09:42:13.897 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 67320
09:42:13.897 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
09:42:13.897 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces
09:42:13.897 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"]
09:42:13.897 INFO  [robot_code/robot_core/launch/src/lib.rs:494] Waiting until code stops running so threads can be joined
09:42:13.897 INFO  [robot_code/robot_core/launch/src/lib.rs:504] Trying to join thread 'simulated_sonar'
09:42:13.922 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:42:13.934 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:42:13.934 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:42:14.078 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:42:14.082 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {"sensors": Object {"magnetometer": Object {"magA": Array [Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0)], "magB": Array [Number(0.0), Number(1.0), Number(0.0)]}}}
09:42:14.082 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'device_settings'. Description: Dynamic device specific settings. During runtime, these settings can be changed either by the user or by the robot itself.
09:42:14.085 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {}
09:42:14.085 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'default'. Description: 
09:42:14.094 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:42:14.094 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:42:14.223 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_state", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:42:14.776 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 45.45Hz
09:42:15.779 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:42:15.936 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "get_task_queue", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:42:16.783 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:42:17.786 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:42:18.792 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
09:42:19.795 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:42:20.799 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:42:21.803 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:42:21.895 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:42:22.097 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:42:22.806 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
09:42:23.809 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:42:24.812 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:42:25.815 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:42:26.818 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:42:26.931 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:42:27.132 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:42:27.822 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:42:28.826 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:42:29.829 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:42:30.832 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:42:31.835 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:42:31.955 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:42:32.156 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:42:32.838 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:42:33.841 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:42:34.844 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:42:35.847 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:42:36.851 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:42:36.979 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:42:37.180 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:42:37.854 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:42:38.857 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:42:39.860 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:43:01.652 INFO  [robot_code/utilities/logging/src/logging.rs:93] ================================================================================
09:43:01.652 INFO  [robot_code/utilities/logging/src/logging.rs:94] Starting new Rust log session at 2025-10-29 09:43:01.652487725 +01:00
09:43:01.652 INFO  [robot_code/utilities/logging/src/logging.rs:95] ================================================================================
09:43:01.652 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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
09:43:01.652 INFO  [robot_code/utilities/logging/src/logger_manager.rs:93] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2025-10-29_09-43-01_simulated_scout.lobsterlog")
09:43:01.656 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logging/high_frequency
09:43:01.658 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: {"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] }, "DD50_S3_tailcone_RPM": ThrusterModel { currents: [-28400.0, -27680.0, -24670.0, -22010.0, -18470.0, -14700.0, -9920.0, -6450.0, -1000.0, 1000.0, 6450.0, 9920.0, 14700.0, 18470.0, 22010.0, 24670.0, 27680.0, 28400.0], thrusts: [-26.24, -25.3, -21.31, -16.54, -12.3, -7.3, -2.64, -0.78, -0.01, 0.01, 0.78, 2.64, 7.3, 12.3, 16.54, 21.31, 25.3, 26.24] }}, thrusters: [ThrusterSettings { current_reversed: false, index: 7, model: "T500_S3_tailcone_basic_SLS_prop", name: "main_forwards", position: None, thruster_direction: [1.0, 0.0, 0.0], rpm_controlled: false }, ThrusterSettings { current_reversed: false, index: 6, model: "DD80_S3_tailcone_RPM", name: "rear_sidewards", position: None, thruster_direction: [0.0, 1.0, 0.0], rpm_controlled: true }, ThrusterSettings { current_reversed: true, index: 4, model: "DD50_S3_tailcone_RPM", name: "rear_right_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }, ThrusterSettings { current_reversed: false, index: 5, model: "DD50_S3_tailcone_RPM", name: "rear_left_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }, ThrusterSettings { current_reversed: false, index: 1, model: "DD80_S3_tailcone_RPM", name: "front_sidewards", position: None, thruster_direction: [0.0, 1.0, 0.0], rpm_controlled: true }, ThrusterSettings { current_reversed: false, index: 2, model: "DD50_S3_tailcone_RPM", name: "front_right_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }, ThrusterSettings { current_reversed: true, index: 3, model: "DD50_S3_tailcone_RPM", name: "front_left_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }] }, camera: CameraSettings { exposure_control_settings_list: [ExposureControl { exposure_target: 0.3, exposure_target_quantile: 0.3, gain_margin: 3.0, gain_target: 5.0, name: "default" }, ExposureControl { exposure_target: 0.4, exposure_target_quantile: 0.95, gain_margin: 3.0, gain_target: 5.0, name: "highlights" }], lights: Some(Lights { downstream_overheating_threshold: 60.0, temperature_pairs: {"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 } }, 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], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "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: true, 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: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, 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 } }
09:43:01.736 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], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
09:43:01.736 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
09:43:01.737 INFO  [robot_code/utilities/simulator/src/simulator.rs:89] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, 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 } }
09:43:01.906 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], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
09:43:01.906 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some([[0.32814878999999997, -0.00123998, 0.01605702]]) volume: 0.053
09:43:02.289 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], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
09:43:02.290 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
09:43:02.290 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
09:43:02.290 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
09:43:02.290 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
09:43:02.291 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
09:43:02.291 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
09:43:02.291 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
09:43:02.291 WARN  [robot_code/robot_core/launch/src/lib.rs:521] IMU not enabled
09:43:02.291 WARN  [robot_code/robot_core/launch/src/lib.rs:539] Magnetometer not enabled
09:43:02.291 WARN  [robot_code/robot_core/launch/src/lib.rs:179] Magnetometer not enabled, state estimation will not be able to use it
09:43:02.291 WARN  [robot_code/robot_core/launch/src/lib.rs:595] Nortek DVL not enabled
09:43:02.291 WARN  [robot_code/robot_core/launch/src/lib.rs:574] GPS not enabled
09:43:02.291 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
09:43:02.291 DEBUG [robot_code/peripherals/actuation/src/lib.rs:231] Started simulated thruster module
09:43:02.291 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_range_image
09:43:02.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_intensity_image
09:43:02.297 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulated_sonar
09:43:02.297 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulated_sonar' with StopRunningFlag { name: "simulated_sonar", id: 0, stop_running: false, do_auto_stop: true }
09:43:02.297 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulated_sonar' successfully started
09:43:02.297 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
09:43:02.297 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulated_sonar with pid: 70429
09:43:02.297 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
09:43:02.297 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
09:43:02.297 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
09:43:02.297 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
09:43:02.298 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
09:43:02.298 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
09:43:02.298 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
09:43:02.298 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
09:43:02.298 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
09:43:02.298 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
09:43:02.298 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
09:43:02.298 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
09:43:02.298 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
09:43:02.298 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
09:43:02.298 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
09:43:02.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
09:43:02.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
09:43:02.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
09:43:02.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
09:43:02.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
09:43:02.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
09:43:02.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
09:43:02.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
09:43:02.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
09:43:02.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
09:43:02.300 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
09:43:02.300 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], "camera_rear_location": [0.9707, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "sonar_location": [1.81926, 0.0, 0.00717], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
09:43:02.300 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
09:43:02.300 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
09:43:02.300 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 }
09:43:02.300 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
09:43:02.300 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
09:43:02.300 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 70457
09:43:02.300 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Control starting...
09:43:02.300 INFO  [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0
09:43:02.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
09:43:02.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
09:43:02.310 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
09:43:02.310 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 }
09:43:02.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
09:43:02.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 70462
09:43:02.340 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
09:43:02.408 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
09:43:02.408 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop
09:43:02.408 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 }
09:43:02.408 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
09:43:02.408 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
09:43:02.408 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: payload_sessions
09:43:02.408 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 70468
09:43:02.428 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
09:43:02.429 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
09:43:02.429 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 }
09:43:02.429 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
09:43:02.429 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 70471
09:43:02.429 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
09:43:02.429 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/active_tasks
09:43:02.430 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
09:43:02.430 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 }
09:43:02.430 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
09:43:02.430 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
09:43:02.430 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 70522
09:43:02.430 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
09:43:02.430 INFO  [robot_code/peripherals/communication/src/lib.rs:98] grpc listening on 0.0.0.0:10820
09:43:02.430 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
09:43:02.430 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
09:43:02.430 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
09:43:02.430 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
09:43:02.430 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
09:43:02.430 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 }
09:43:02.430 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
09:43:02.430 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
09:43:02.430 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 }
09:43:02.430 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 70527
09:43:02.431 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
09:43:02.431 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 70528
09:43:02.431 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
09:43:02.431 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 }
09:43:02.431 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
09:43:02.431 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 70529
09:43:02.448 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:43:02.448 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
09:43:02.448 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for hardware_checks
09:43:02.451 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
09:43:02.451 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
09:43:02.451 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_service
09:43:02.451 INFO  [robot_code/peripherals/communication/src/sonar_service.rs:48] Creating sonar service
09:43:02.451 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.
09:43:02.451 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
09:43:02.451 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 }
09:43:02.451 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
09:43:02.451 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 70531
09:43:02.452 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
09:43:02.452 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces
09:43:02.452 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"]
09:43:02.452 INFO  [robot_code/robot_core/launch/src/lib.rs:494] Waiting until code stops running so threads can be joined
09:43:02.452 INFO  [robot_code/robot_core/launch/src/lib.rs:504] Trying to join thread 'simulated_sonar'
09:43:02.477 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:43:02.478 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:43:02.482 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:43:02.483 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {"sensors": Object {"magnetometer": Object {"magA": Array [Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0)], "magB": Array [Number(0.0), Number(1.0), Number(0.0)]}}}
09:43:02.483 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'device_settings'. Description: Dynamic device specific settings. During runtime, these settings can be changed either by the user or by the robot itself.
09:43:02.487 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {}
09:43:02.487 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'default'. Description: 
09:43:02.488 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:43:02.489 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:43:02.489 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:43:02.489 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:43:02.489 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:43:02.489 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:43:02.578 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_state", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:43:02.579 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_state", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:43:03.331 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 45.94Hz
09:43:03.490 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "get_task_queue", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:43:03.490 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "get_task_queue", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:43:04.338 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.65Hz
09:43:05.347 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.56Hz
09:43:06.353 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 48.73Hz
09:43:07.359 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.67Hz
09:43:08.363 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:43:09.367 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:43:10.384 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 48.17Hz
09:43:11.394 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.51Hz
09:43:12.406 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.54Hz
09:43:13.411 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 48.62Hz
09:43:14.428 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.15Hz
09:43:15.442 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 48.36Hz
09:43:16.456 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.28Hz
09:43:17.461 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:43:18.464 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:43:19.468 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:43:20.471 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:43:21.475 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:43:22.479 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:43:23.483 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:43:24.486 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:43:25.489 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:43:26.492 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
09:43:27.497 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:43:28.502 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.73Hz
09:43:29.506 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:43:30.511 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.74Hz
09:43:31.517 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.67Hz
09:43:32.523 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.71Hz
09:43:33.527 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:43:34.530 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:43:35.534 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:43:36.538 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.76Hz
09:43:37.542 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:43:38.546 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:43:39.550 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:43:40.555 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
09:43:41.558 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:43:42.561 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:43:43.564 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:43:44.568 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:43:45.571 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:43:46.576 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:43:47.580 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:43:48.583 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:43:49.587 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:43:50.591 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:43:51.595 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:43:52.599 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:43:53.603 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:43:54.607 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:43:55.611 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:43:56.615 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:43:57.619 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:43:58.624 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.76Hz
09:43:59.627 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:00.631 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:01.636 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.74Hz
09:44:02.641 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.76Hz
09:44:03.646 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:44:04.649 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:44:05.652 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:06.655 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:07.659 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:44:08.662 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:08.987 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:44:09.666 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:10.674 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.58Hz
09:44:11.679 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
09:44:12.682 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:13.686 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:14.690 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:44:15.694 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:44:16.697 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:44:17.701 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:18.443 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
09:44:18.444 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: '10.0 x 10.0 m Inspection')
09:44:18.704 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:44:19.086 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
09:44:19.086 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
09:44:19.086 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:576] Starting a Upright task 'Upright task'
09:44:19.107 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
09:44:19.107 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [DirectControl(ControlGoalWithMeta { id: c52ee194-1e63-4966-8631-6483d833dd8a, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
09:44:19.107 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: c52ee194-1e63-4966-8631-6483d833dd8a, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
09:44:19.117 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: c52ee194-1e63-4966-8631-6483d833dd8a, start_time: Some(76.26 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started)
09:44:19.117 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:430] Discarded 0 path planner updates before receiving the expected update
09:44:19.117 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Upright, name: 'Upright task', id: 4e303f2a-0f6c-4b26-8f4d-52aa01231e55)"), mode: None }
09:44:19.136 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.09849564105279074, Enable control depth: 0.2, Depth control enabled: true
09:44:19.136 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: c52ee194-1e63-4966-8631-6483d833dd8a, start_time: Some(76.26 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished)
09:44:19.136 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
09:44:19.136 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
09:44:19.136 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09849564105279074 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
09:44:19.146 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: c52ee194-1e63-4966-8631-6483d833dd8a, start_time: Some(76.26 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })
09:44:19.146 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:576] Starting a SurveyArea task '10.0 x 10.0 m Inspection'
09:44:19.156 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
09:44:19.156 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
09:44:19.196 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
09:44:19.196 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
09:44:19.196 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
09:44:19.196 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:430] Discarded 0 path planner updates before receiving the expected update
09:44:19.196 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: '10.0 x 10.0 m Inspection', id: 43e8e77b-31a8-4526-a20f-9ae20b1b3c27)"), mode: None }
09:44:19.196 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:33] StopRunningFlag created with ID: 1
09:44:19.196 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 1 cloned for mocked_camera_state
09:44:19.216 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.09849564219283148, Enable control depth: 0.2, Depth control enabled: true
09:44:19.216 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
09:44:19.216 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1432303179206036 m^1. Interpolating depth and velocity.
09:44:19.216 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09849564219283148 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
09:44:19.216 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.4289169610375958 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -4.962339718462092 m^1, east: -2.525240975512996 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -4.962339718462092 m^1, east: -2.525240975512996 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(3.0 m^1), orientation_point: None, hold_duration: None } }], [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -4.962339718462092 m^1, east: -2.525240975512996 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 5.229388605235953 m^1, east: -2.525240975512996 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 3.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.229388605235953 m^1, east: 0.05100373036935668 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -4.962339718462092 m^1, east: 0.05100373036935668 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 3.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -4.962339718462092 m^1, east: 2.6272484362517092 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 5.2293886350382754 m^1, east: 2.6272484362517092 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 3.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }]
09:44:19.216 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
09:44:19.216 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
09:44:19.216 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing { lower_time_estimate: 67.25117965976504 s^1, upper_time_estimate: 220.8767694896476 s^1 })
09:44:19.226 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Preparing { lower_time_estimate: 67.25117965976504 s^1, upper_time_estimate: 220.8767694896476 s^1 } for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:44:19.707 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:20.039 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:426] Details: Current depth goal: 0.20468562798218448, Enable control depth: 0.2, Depth control enabled: false
09:44:20.039 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:159] Enabling depth control and reset z-velocity PID controller
09:44:20.711 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:44:21.574 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:197] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
09:44:21.714 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:22.717 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:23.219 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1477132885342085 m^1. Interpolating depth and velocity.
09:44:23.721 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:44:24.724 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:44:25.727 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:26.731 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:44:27.233 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1398679509444198 m^1. Interpolating depth and velocity.
09:44:27.734 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:44:28.738 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:29.741 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:30.744 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:44:31.246 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9520197660352645 m^1. Interpolating depth and velocity.
09:44:31.747 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:32.751 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:44:33.754 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:44:34.757 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:35.259 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9349725810075116 m^1. Interpolating depth and velocity.
09:44:35.581 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:44:35.761 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:44:35.782 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:44:36.764 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:37.767 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:44:38.169 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:44:38.169 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
09:44:38.189 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:44:38.232 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_0.raw" at altitude: Some(2.937953978136826)
09:44:38.771 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:39.774 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:40.195 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:44:40.216 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:44:40.609 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:44:40.777 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:40.810 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:44:41.780 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:44:42.222 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:44:42.242 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:44:42.784 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:44:43.787 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:44.271 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:44:44.289 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:44:44.790 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:45.633 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:44:45.794 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:44:45.835 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:44:46.296 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:44:46.316 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:44:46.797 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:44:47.419 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:44:47.800 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
09:44:48.322 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:44:48.350 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:44:48.804 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:44:48.844 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_1.raw" at altitude: Some(3.051072957216914)
09:44:49.808 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:44:50.029 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:44:50.149 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:44:50.350 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:44:50.350 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:44:50.660 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:44:50.811 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:44:50.861 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:44:51.012 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_3.raw" at altitude: Some(3.0601713937134227)
09:44:51.814 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:44:52.396 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:44:52.416 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:44:52.818 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:44:53.781 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_6.raw" at altitude: Some(3.008569875867933)
09:44:53.821 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:44:54.423 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:44:54.443 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:44:54.824 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:55.687 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:44:55.827 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:44:55.888 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:44:56.410 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_9.raw" at altitude: Some(3.0645244931905524)
09:44:56.450 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:44:56.470 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:44:56.830 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:44:57.413 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:44:57.834 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:44:58.476 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:44:58.496 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:44:58.837 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:44:59.380 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:44:59.822 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_11.raw" at altitude: Some(2.942078819482412)
09:44:59.841 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:45:00.524 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:00.544 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:00.717 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:45:00.825 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:00.844 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:00.919 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:45:01.847 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:45:01.848 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:02.550 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:02.570 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:02.851 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:45:03.194 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_13.raw" at altitude: Some(2.973149496407988)
09:45:03.855 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:45:04.578 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:04.598 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:04.858 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:05.743 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:45:05.861 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:45:05.902 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_16.raw" at altitude: Some(2.9506529069358383)
09:45:05.944 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:45:06.604 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:06.626 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:06.865 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:07.146 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:07.868 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:08.352 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:08.651 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:08.671 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:08.671 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_18.raw" at altitude: Some(3.0663002335859666)
09:45:08.871 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:45:09.554 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:09.874 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:45:10.196 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:10.677 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:10.697 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:10.766 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:45:10.878 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:45:10.968 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:45:11.822 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_20.raw" at altitude: Some(3.0953997863398452)
09:45:11.881 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:45:12.704 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:12.724 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:12.884 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:45:13.888 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:45:14.470 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_23.raw" at altitude: Some(2.9691794249843038)
09:45:14.730 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:14.751 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:14.891 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:15.674 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
09:45:15.790 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:45:15.894 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:15.991 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:45:16.778 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:16.798 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:16.898 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:17.902 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:45:18.805 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:18.825 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:18.905 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:45:18.986 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_25.raw" at altitude: Some(3.0376639288031924)
09:45:19.908 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:45:20.815 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:45:20.831 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:20.851 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:20.911 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:21.016 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:45:21.253 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_26.raw" at altitude: Some(3.017905218550465)
09:45:21.915 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:45:22.858 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:22.878 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:22.918 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:45:23.401 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_27.raw" at altitude: Some(2.9804715170621776)
09:45:23.922 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:45:24.905 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:24.925 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:45:24.925 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:25.467 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_28.raw" at altitude: Some(2.9509130068953158)
09:45:25.838 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:45:25.929 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:45:26.039 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:45:26.932 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:45:26.932 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:26.952 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:27.474 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_29.raw" at altitude: Some(2.957137574277511)
09:45:27.935 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
09:45:28.938 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:45:28.959 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:28.978 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:29.681 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_30.raw" at altitude: Some(2.9832847975109056)
09:45:29.822 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:29.941 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:30.464 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:30.861 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:45:30.945 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:45:30.946 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:30.986 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:31.006 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:31.062 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:45:31.949 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:45:31.988 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:45:32.231 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_31.raw" at altitude: Some(2.9190280698465623)
09:45:32.351 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:32.953 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:45:32.973 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:33.033 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:33.054 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:33.956 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:45:34.339 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:34.839 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:34.960 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:35.060 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:35.080 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:35.887 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:45:35.923 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_33.raw" at altitude: Some(2.9483551933205407)
09:45:35.963 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:36.089 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:45:36.966 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:45:37.087 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:37.107 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:37.970 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:45:38.412 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:38.613 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:38.734 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_36.raw" at altitude: Some(2.9755077322474643)
09:45:38.974 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:45:39.115 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:39.135 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:39.315 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:39.757 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:39.978 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:45:39.998 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:40.260 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:40.461 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:40.582 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:40.917 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:45:40.982 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.76Hz
09:45:41.118 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:45:41.163 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:41.183 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:41.484 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:41.785 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:41.966 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:41.986 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:42.809 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:42.889 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:42.989 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:45:43.190 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:43.210 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:43.411 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:43.992 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:44.194 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_37.raw" at altitude: Some(3.032564939827967)
09:45:44.294 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:44.775 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:44.995 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:45:45.216 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:45.236 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:45.942 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:45:46.000 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:45:46.143 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:45:46.261 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_38.raw" at altitude: Some(3.0576961575185084)
09:45:46.382 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:46.883 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:47.003 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:47.245 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:47.264 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:48.006 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:45:49.010 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:45:49.152 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_40.raw" at altitude: Some(3.021309096728363)
09:45:49.292 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:49.293 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:49.414 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:50.016 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.67Hz
09:45:50.940 WARN  [robot_code/peripherals/payload/src/coverage_tracker.rs:55] Sensor data is out of range
09:45:50.965 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:45:51.019 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:51.166 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:45:51.321 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:51.321 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:52.023 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:45:52.907 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:52.907 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_42.raw" at altitude: Some(3.0965506296737146)
09:45:53.027 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:45:53.349 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:53.369 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:54.031 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:45:55.034 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:45:55.375 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:55.395 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:55.496 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_44.raw" at altitude: Some(3.0555450077166557)
09:45:55.991 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:45:56.037 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:45:56.158 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:45:56.192 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:45:57.041 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:45:57.423 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:57.443 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:58.044 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:45:58.888 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:45:59.048 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:45:59.450 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:45:59.470 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:45:59.611 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_46.raw" at altitude: Some(2.960179589517356)
09:46:00.052 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:46:01.018 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:46:01.057 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:46:01.219 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:46:01.478 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:01.498 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:01.639 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_48.raw" at altitude: Some(2.9778147981015586)
09:46:02.060 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:46:02.843 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:46:03.063 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:46:03.505 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:03.525 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:03.866 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:46:04.067 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:46:04.569 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_50.raw" at altitude: Some(2.9310351896704576)
09:46:05.070 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:46:05.553 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:05.573 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:06.042 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:46:06.074 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:46:06.243 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:46:07.078 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:46:07.440 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_53.raw" at altitude: Some(3.005262564637884)
09:46:07.580 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:07.600 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:08.082 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:46:09.086 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:46:09.616 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:09.629 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:10.070 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
09:46:10.090 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:46:10.251 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_56.raw" at altitude: Some(2.9561256254531596)
09:46:11.069 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:46:11.093 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:46:11.270 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:46:11.636 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:11.656 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:12.097 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:46:13.100 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:46:13.684 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:13.711 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:13.764 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_57.raw" at altitude: Some(3.0650826624797336)
09:46:14.105 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:46:15.110 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
09:46:15.712 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:15.732 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:15.859 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_58.raw" at altitude: Some(3.0999674244024793)
09:46:16.095 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:46:16.113 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:46:16.296 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:46:17.117 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:46:17.739 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:17.759 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:18.120 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:46:19.124 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:46:19.766 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:19.786 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:19.787 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_60.raw" at altitude: Some(3.0029213785056204)
09:46:20.127 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:46:21.119 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:46:21.132 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:46:21.320 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:46:21.814 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:21.834 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:21.854 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_61.raw" at altitude: Some(2.962009643042698)
09:46:22.135 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:46:23.138 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:46:23.841 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:23.861 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:23.941 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_62.raw" at altitude: Some(2.9411825456269276)
09:46:24.142 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:46:24.248 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:46:25.145 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:46:25.546 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:46:25.867 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:25.888 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:25.973 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:46:26.143 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:46:26.148 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:46:26.344 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:46:27.151 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:46:27.392 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:46:27.433 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_64.raw" at altitude: Some(2.8966848477698415)
09:46:27.733 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:46:27.900 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:27.914 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:28.155 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:46:29.159 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.76Hz
09:46:29.943 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:29.943 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:29.963 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_66.raw" at altitude: Some(2.950622319383746)
09:46:30.163 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:46:31.166 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:46:31.167 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:46:31.368 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:46:31.869 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:46:31.969 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:31.997 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:32.169 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:46:32.250 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:46:33.173 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:46:33.279 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_69.raw" at altitude: Some(3.0796949186196296)
09:46:33.996 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:34.016 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:34.177 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:46:35.181 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:46:35.984 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_72.raw" at altitude: Some(2.969451310358191)
09:46:36.024 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:36.045 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:36.185 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:46:36.193 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:46:36.394 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:46:37.188 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:46:38.071 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:38.091 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:38.191 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:46:38.372 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:46:38.593 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:46:38.633 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_75.raw" at altitude: Some(3.098077207127066)
09:46:39.195 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:46:40.098 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:40.118 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:40.198 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:46:40.921 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_77.raw" at altitude: Some(3.040830955203375)
09:46:41.201 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:46:41.217 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:46:41.418 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:46:41.683 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:46:42.125 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:42.145 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:42.205 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:46:43.209 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:46:44.152 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:44.173 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:44.212 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:46:45.217 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:46:45.458 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_79.raw" at altitude: Some(2.848982402187933)
09:46:45.740 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:46:46.201 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:46.221 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:46:46.221 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:46.241 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:46:46.442 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:46:47.224 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:46:48.008 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:46:48.229 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:46:48.229 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:48.249 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_81.raw" at altitude: Some(3.845115290002764)
09:46:48.249 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:48.249 WARN  [robot_code/peripherals/payload/src/coverage_tracker.rs:55] Sensor data is out of range
09:46:48.831 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:46:49.012 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:46:49.232 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:46:49.373 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:46:50.236 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:46:50.257 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:50.277 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:50.457 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:46:50.738 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:46:51.239 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:46:51.265 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:46:51.440 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_82.raw" at altitude: Some(2.936050194704426)
09:46:51.466 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:46:52.242 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:46:52.284 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:52.304 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:52.745 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:46:52.966 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:46:53.246 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:46:54.009 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_84.raw" at altitude: Some(3.023754036309479)
09:46:54.250 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:46:54.330 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:54.351 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:54.431 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:46:55.255 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.72Hz
09:46:56.019 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_85.raw" at altitude: Some(3.3095274119222884)
09:46:56.259 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:46:56.293 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:46:56.360 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:56.380 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:56.494 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:46:56.982 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:46:57.264 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:46:58.269 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.74Hz
09:46:58.390 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:46:58.410 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:58.490 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/43e8e77b-10_0_x_10_0_m_Inspection/photos/mocked_image_86.raw" at altitude: Some(2.964470460200191)
09:46:59.274 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.73Hz
09:46:59.355 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
09:46:59.375 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished)
09:46:59.375 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:526] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
09:46:59.395 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
09:46:59.395 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
09:46:59.396 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114701348269 0.07626792299775154,0.9084130374404935 0.07626792299775154,0.9084130374404935 0.07627047292378897,0.9084114701348269 0.07627047292378897,0.9084114701348269 0.07626792299775154)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:46:59.396 WARN  [robot_code/peripherals/payload/src/lib.rs:127] Payload session was dropped without being stopped, stopping it now
09:46:59.415 INFO  [robot_code/peripherals/payload/src/position_camera.rs:266] Stopping PositionCamera recording, because receiver stopped
09:46:59.416 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:176] Camera trigger responder stopped: RecvError
09:46:59.416 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:180] Stopped mocked camera recording.
09:46:59.416 ERROR [robot_code/utilities/common/src/utils/stop_running_flag.rs:105] StopRunningFlag { name: "mocked_camera_loop", id: 1, stop_running: false, do_auto_stop: true } got dropped, stopping associated threads...
09:46:59.416 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:93] Stopping StopRunningFlag { name: "mocked_camera_loop", id: 1, stop_running: false, do_auto_stop: true }...
09:46:59.426 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
09:46:59.426 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
09:46:59.426 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
09:46:59.426 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:270] Waiting for active task with spawned in Hold task 'waiting, hold position'
09:46:59.426 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:430] Discarded 0 path planner updates before receiving the expected update
09:46:59.426 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Started)
09:46:59.426 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'waiting, hold position', id: 93621c59-abee-4036-9d19-6716386347d6)"), mode: None }
09:46:59.456 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9787957607856574 m^1. Interpolating depth and velocity.
09:46:59.456 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Current, target_velocity: 0.5 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }], [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(0.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }]
09:46:59.456 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Preparing { lower_time_estimate: 5.171053804811124 s^1, upper_time_estimate: 37.756580707216685 s^1 })
09:46:59.456 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
09:46:59.456 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })
09:46:59.456 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 5.161996073719815 m^1, east: 2.628451176810677 m^1, down: 1.0342107609622249 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
09:46:59.476 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Preparing { lower_time_estimate: 5.171053804811124 s^1, upper_time_estimate: 37.756580707216685 s^1 } for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
09:46:59.496 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
09:46:59.496 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })
09:46:59.516 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
09:47:00.279 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
09:47:01.284 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
09:47:01.317 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:47:01.518 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:47:01.525 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
09:47:01.545 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
09:47:02.287 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
09:47:03.290 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:47:03.471 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9757152928139909 m^1. Interpolating depth and velocity.
09:47:03.572 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
09:47:03.592 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
09:47:03.974 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.19822389485797087, Enable control depth: 0.2, Depth control enabled: true
09:47:03.974 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
09:47:04.296 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.72Hz
09:47:04.438 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Finished)
09:47:04.438 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:526] Completed goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })
09:47:04.457 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Finished for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
09:47:04.477 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started)
09:47:04.497 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Started for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:04.497 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 5.197440426882815 m^1, east: 2.628432556952306 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }], [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 5.197440426882815 m^1, east: 2.628432556952306 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }]
09:47:04.497 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Preparing { lower_time_estimate: 300.9284231666903 s^1, upper_time_estimate: 331.3926347500354 s^1 })
09:47:04.497 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })
09:47:04.517 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Preparing { lower_time_estimate: 300.9284231666903 s^1, upper_time_estimate: 331.3926347500354 s^1 } for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:05.120 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:05.120 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })
09:47:05.140 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:05.301 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.76Hz
09:47:06.305 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:47:06.340 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:47:06.541 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:47:07.148 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:07.168 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:07.308 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:47:07.490 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9730852218576929 m^1. Interpolating depth and velocity.
09:47:08.312 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:47:09.195 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:09.214 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:09.315 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:47:10.319 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:47:11.222 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:11.242 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:11.323 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:47:11.363 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:47:11.503 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9768343894395808 m^1. Interpolating depth and velocity.
09:47:11.564 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:47:12.328 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.73Hz
09:47:13.253 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:13.273 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:13.333 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
09:47:14.336 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:47:15.279 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:15.299 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:15.339 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:47:15.520 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9827639973579152 m^1. Interpolating depth and velocity.
09:47:16.342 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:47:16.391 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:47:16.592 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:47:17.326 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:17.326 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:17.346 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:47:18.350 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:47:19.354 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:47:19.354 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:19.354 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:19.535 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9914636048546681 m^1. Interpolating depth and velocity.
09:47:20.357 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:47:21.361 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:47:21.381 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:21.381 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:21.415 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:47:21.616 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:47:22.364 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:47:23.367 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:47:23.408 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:23.428 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:23.548 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0002488264057803 m^1. Interpolating depth and velocity.
09:47:24.370 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:47:25.375 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:47:25.457 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:25.477 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:26.379 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:47:26.438 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:47:26.639 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:47:27.383 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:47:27.484 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:27.504 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:27.564 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.002223450582716 m^1. Interpolating depth and velocity.
09:47:28.388 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:47:29.391 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:47:29.512 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:29.532 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:30.397 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.70Hz
09:47:31.402 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:47:31.461 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:47:31.542 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:31.562 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:31.582 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0026553130377005 m^1. Interpolating depth and velocity.
09:47:31.662 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:47:32.405 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:47:33.408 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:47:33.589 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:33.609 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:34.411 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:47:35.414 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:47:35.595 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0029037344217642 m^1. Interpolating depth and velocity.
09:47:35.615 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:35.635 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:36.418 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:47:36.488 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:47:36.689 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:47:37.421 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:47:37.642 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:37.662 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:38.425 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:47:39.428 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:47:39.609 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0030432084645984 m^1. Interpolating depth and velocity.
09:47:39.669 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:39.669 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:40.431 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:47:41.435 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:47:41.516 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:47:41.717 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:41.717 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:47:41.736 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:42.438 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:47:43.442 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:47:43.623 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0031237773731219 m^1. Interpolating depth and velocity.
09:47:43.743 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:43.763 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:44.445 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:47:45.449 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:47:45.770 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:45.770 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:46.452 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:47:46.539 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:47:46.740 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:47:47.456 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:47:47.637 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.003166767900506 m^1. Interpolating depth and velocity.
09:47:47.797 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:47.817 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:48.460 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:47:49.463 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:47:49.844 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:49.865 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:50.468 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.72Hz
09:47:51.476 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.63Hz
09:47:51.569 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:47:51.657 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0031925615548873 m^1. Interpolating depth and velocity.
09:47:51.770 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:47:51.877 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:51.897 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:52.479 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:47:53.483 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:47:53.905 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:53.925 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:54.487 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:47:55.491 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:47:55.672 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032060899312665 m^1. Interpolating depth and velocity.
09:47:55.933 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:55.953 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:56.495 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:47:56.594 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:47:56.795 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:47:57.498 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:47:57.981 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:47:58.001 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:47:58.502 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:47:59.506 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:47:59.687 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032152845921356 m^1. Interpolating depth and velocity.
09:48:00.009 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:00.029 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:00.510 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:48:01.513 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:48:01.618 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:48:01.819 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:48:02.035 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:02.055 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:02.517 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:48:03.520 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:03.701 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.003218797878696 m^1. Interpolating depth and velocity.
09:48:04.062 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:04.082 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:04.523 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:05.527 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:48:06.110 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:06.130 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:06.531 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:48:06.642 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:48:06.843 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:48:07.536 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:48:07.716 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032224289175353 m^1. Interpolating depth and velocity.
09:48:08.138 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:08.158 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:08.539 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:09.543 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:48:10.166 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:10.186 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:10.547 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.76Hz
09:48:11.551 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:48:11.666 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:48:11.732 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032227700842746 m^1. Interpolating depth and velocity.
09:48:11.867 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:48:12.193 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:12.213 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:12.554 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:48:13.557 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:14.241 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:14.261 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:14.563 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.73Hz
09:48:15.566 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:48:15.747 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.003224895054542 m^1. Interpolating depth and velocity.
09:48:16.268 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:16.288 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:16.569 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:48:16.692 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:48:16.893 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:48:17.572 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:18.295 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:18.315 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:18.575 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:19.578 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:19.759 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032249221974165 m^1. Interpolating depth and velocity.
09:48:20.321 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:20.341 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:20.581 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:21.584 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:48:21.716 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:48:21.917 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:48:22.367 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:22.387 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:22.587 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:48:23.591 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:23.771 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032258986566305 m^1. Interpolating depth and velocity.
09:48:24.393 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:24.413 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:24.594 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:48:25.597 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:26.420 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:26.440 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:26.600 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:26.739 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:48:26.940 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:48:27.603 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
09:48:27.784 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.003225704478214 m^1. Interpolating depth and velocity.
09:48:28.446 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:28.466 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:28.606 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:48:29.609 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:48:30.492 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:30.512 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:30.612 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
09:48:31.615 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:48:31.763 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:48:31.797 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032261690078839 m^1. Interpolating depth and velocity.
09:48:31.965 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:48:32.521 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:32.541 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:32.621 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.72Hz
09:48:33.624 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:34.550 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:34.570 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:34.630 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.72Hz
09:48:35.633 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:48:35.814 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032259803551664 m^1. Interpolating depth and velocity.
09:48:36.577 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:36.597 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:36.637 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:48:36.792 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:48:36.994 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:48:37.644 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.65Hz
09:48:38.627 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:38.647 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:38.647 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:39.651 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:48:39.831 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.003226686002348 m^1. Interpolating depth and velocity.
09:48:40.654 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:48:40.655 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:40.674 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:41.657 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:48:41.817 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:48:42.018 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:48:42.660 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:42.681 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:42.701 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:43.663 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:43.845 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.003225672004092 m^1. Interpolating depth and velocity.
09:48:44.668 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:48:44.708 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:44.708 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:45.671 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:46.674 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:48:46.755 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:46.775 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:46.843 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:48:47.044 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:48:47.677 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:47.860 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032269247478496 m^1. Interpolating depth and velocity.
09:48:48.682 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:48:48.783 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:48.803 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:49.686 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:48:50.689 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:48:50.810 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:50.830 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:51.692 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:51.867 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:48:51.873 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032259253258653 m^1. Interpolating depth and velocity.
09:48:52.068 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:48:52.696 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:48:52.836 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:52.856 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:53.699 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:54.702 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:54.883 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:54.903 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:55.705 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:55.886 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032266168909114 m^1. Interpolating depth and velocity.
09:48:56.709 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:48:56.894 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:48:56.910 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:56.930 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:57.095 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:48:57.712 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:58.715 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:48:58.936 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:48:58.956 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:48:59.719 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:48:59.900 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032260280808218 m^1. Interpolating depth and velocity.
09:49:00.722 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:49:00.963 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:00.983 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:01.726 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:49:01.917 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:49:02.118 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:49:02.729 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:49:03.010 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:03.030 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:03.732 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:49:03.913 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.003226292158807 m^1. Interpolating depth and velocity.
09:49:04.735 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:49:05.037 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:05.057 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:05.739 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:49:06.742 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:49:06.940 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:49:07.063 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:07.084 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:07.142 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:49:07.745 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:49:07.926 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032261378639271 m^1. Interpolating depth and velocity.
09:49:08.749 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:49:09.090 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:09.110 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:09.752 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:49:10.760 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.62Hz
09:49:11.141 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:11.162 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:11.763 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:49:11.944 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032260565036735 m^1. Interpolating depth and velocity.
09:49:11.963 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:49:12.164 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:49:12.766 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:49:13.168 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:13.188 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:13.770 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:49:14.774 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:49:15.196 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:15.216 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:15.777 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:49:15.958 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032262944117223 m^1. Interpolating depth and velocity.
09:49:16.781 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:49:16.992 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:49:17.193 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:49:17.223 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:17.243 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:17.785 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:49:18.788 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:49:19.271 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:19.291 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:19.792 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:49:19.973 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032258061358972 m^1. Interpolating depth and velocity.
09:49:20.795 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
09:49:21.297 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:21.316 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:21.798 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:49:22.015 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:49:22.216 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:49:22.802 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:49:23.324 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:23.344 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:23.805 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:49:23.986 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032265542867993 m^1. Interpolating depth and velocity.
09:49:24.809 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:49:25.351 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:25.371 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:25.812 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:49:26.816 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:49:27.039 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:49:27.240 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:49:27.398 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:27.418 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:27.819 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:49:28.000 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032255388972224 m^1. Interpolating depth and velocity.
09:49:28.824 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.74Hz
09:49:29.428 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:29.449 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:29.829 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.72Hz
09:49:30.834 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:49:31.456 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:31.476 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:31.837 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:49:32.018 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032267703847335 m^1. Interpolating depth and velocity.
09:49:32.064 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:49:32.266 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:49:32.840 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:49:33.482 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:33.502 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:33.843 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:49:34.847 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:49:35.529 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:35.549 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:35.850 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:49:36.031 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032253919452474 m^1. Interpolating depth and velocity.
09:49:36.853 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:49:37.092 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:49:37.294 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:49:37.557 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:37.577 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:37.857 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:49:38.862 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:49:39.584 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:39.604 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:39.865 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:49:40.046 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032268242731899 m^1. Interpolating depth and velocity.
09:49:40.869 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:49:41.612 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:41.631 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:41.872 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:49:42.117 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:49:42.318 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:49:42.876 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:49:43.659 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:43.679 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:43.879 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:49:44.060 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032254673133174 m^1. Interpolating depth and velocity.
09:49:44.885 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.72Hz
09:49:45.688 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:45.689 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:45.889 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:49:46.892 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:49:47.140 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:49:47.341 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:49:47.715 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:47.736 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:47.896 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:49:48.077 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032267356838638 m^1. Interpolating depth and velocity.
09:49:48.899 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:49:49.742 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:49.762 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:49.902 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:49:50.905 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:49:51.788 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:51.808 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:51.908 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:49:52.089 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032258525004538 m^1. Interpolating depth and velocity.
09:49:52.163 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:49:52.364 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:49:52.912 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:49:53.816 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:53.836 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:53.916 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:49:54.919 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:49:55.842 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:55.862 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:55.922 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
09:49:56.102 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032265373880964 m^1. Interpolating depth and velocity.
09:49:56.925 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:49:57.192 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:49:57.393 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:49:57.868 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:57.888 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:49:57.928 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:49:58.932 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:49:59.917 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:49:59.936 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:49:59.937 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:00.117 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032260644723419 m^1. Interpolating depth and velocity.
09:50:00.939 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:50:01.943 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:50:01.943 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:01.963 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:02.216 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:50:02.417 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:50:02.946 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:50:03.951 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:50:03.971 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:03.991 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:04.132 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032262537524028 m^1. Interpolating depth and velocity.
09:50:04.954 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:50:05.957 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:50:05.998 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:06.018 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:06.961 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:50:07.239 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:50:07.441 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:50:07.964 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:50:08.045 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:08.065 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:08.146 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032263001307111 m^1. Interpolating depth and velocity.
09:50:08.968 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:50:09.971 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:50:10.072 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:10.092 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:10.974 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:50:11.977 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:50:12.098 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:12.118 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:12.158 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032258571279575 m^1. Interpolating depth and velocity.
09:50:12.262 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:50:12.463 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:50:12.980 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:50:13.985 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:50:14.126 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:14.126 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:14.989 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:50:15.993 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:50:16.174 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032264341356525 m^1. Interpolating depth and velocity.
09:50:16.174 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:16.194 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:16.998 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.74Hz
09:50:17.288 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:50:17.489 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:50:18.002 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:50:18.203 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:18.223 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:19.007 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:50:20.011 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:50:20.192 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032256316611177 m^1. Interpolating depth and velocity.
09:50:20.232 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:20.232 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:21.015 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:50:22.019 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:50:22.260 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:22.281 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:22.316 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:50:22.517 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:50:23.022 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:50:24.026 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:50:24.207 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.00322639526894 m^1. Interpolating depth and velocity.
09:50:24.308 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:24.308 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:25.029 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:50:26.033 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:50:26.334 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:26.354 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:27.036 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:50:27.340 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:50:27.542 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:50:28.040 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:50:28.221 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032254688729978 m^1. Interpolating depth and velocity.
09:50:28.362 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:28.362 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:29.044 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:50:30.048 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:50:30.389 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:30.409 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:31.052 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:50:32.055 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:50:32.236 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.003226912829855 m^1. Interpolating depth and velocity.
09:50:32.363 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:50:32.437 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:32.458 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:32.564 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:50:33.059 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:50:34.062 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:50:34.464 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:34.484 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:35.066 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:50:36.070 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:50:36.250 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032255190968664 m^1. Interpolating depth and velocity.
09:50:36.491 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:36.511 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:37.073 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:50:37.390 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:50:37.591 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:50:38.077 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:50:38.519 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:38.539 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:39.080 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:50:40.084 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:50:40.265 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.003226710910103 m^1. Interpolating depth and velocity.
09:50:40.566 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:40.586 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:41.088 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:50:42.092 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:50:42.419 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:50:42.595 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:42.614 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:42.620 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:50:43.096 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:50:44.099 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:50:44.280 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.003225689183572 m^1. Interpolating depth and velocity.
09:50:44.621 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:44.641 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:45.103 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:50:46.107 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:50:46.649 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:46.669 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:47.110 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:50:47.446 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:50:47.647 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:50:48.114 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:50:48.295 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032265841886492 m^1. Interpolating depth and velocity.
09:50:48.697 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:48.717 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:49.119 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.73Hz
09:50:50.124 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:50:50.727 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:50.749 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:51.129 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.73Hz
09:50:52.133 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:50:52.314 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032257837978724 m^1. Interpolating depth and velocity.
09:50:52.469 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:50:52.670 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:50:52.756 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:52.776 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:53.139 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.71Hz
09:50:54.143 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:50:54.785 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:54.805 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:55.148 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
09:50:56.152 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:50:56.332 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032264544685647 m^1. Interpolating depth and velocity.
09:50:56.834 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:56.854 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:57.155 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:50:57.495 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:50:57.696 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:50:58.158 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:50:58.861 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:50:58.881 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:50:59.162 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:51:00.165 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:51:00.346 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032261056349334 m^1. Interpolating depth and velocity.
09:51:00.888 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:00.908 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:01.168 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:51:02.172 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:51:02.518 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:51:02.719 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:51:02.914 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:02.934 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:03.175 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:51:04.178 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:51:04.359 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032262089221922 m^1. Interpolating depth and velocity.
09:51:04.962 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:04.981 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:05.182 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:51:06.186 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:51:06.989 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:07.009 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:07.189 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:51:07.544 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:51:07.745 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:51:08.193 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:51:08.375 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.003226370030819 m^1. Interpolating depth and velocity.
09:51:09.017 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:09.037 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:09.197 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:51:10.201 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:51:11.044 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:11.064 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:11.204 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:51:12.208 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:51:12.388 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032259022167542 m^1. Interpolating depth and velocity.
09:51:12.568 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:51:12.769 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:51:13.091 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:13.111 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:13.211 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:51:14.214 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:51:15.119 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:15.139 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:15.219 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:51:16.222 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:51:16.403 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032265524275834 m^1. Interpolating depth and velocity.
09:51:17.145 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:17.166 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:17.225 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:51:17.593 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:51:17.794 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:51:18.229 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:51:19.172 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:19.172 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:19.232 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:51:20.238 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.71Hz
09:51:20.419 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032255344576102 m^1. Interpolating depth and velocity.
09:51:21.222 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:21.242 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:51:21.242 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:22.245 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:51:22.616 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:51:22.817 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:51:23.248 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:51:23.249 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:23.268 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:24.253 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.76Hz
09:51:24.434 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032266133038616 m^1. Interpolating depth and velocity.
09:51:25.257 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:51:25.277 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:25.297 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:26.260 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:51:27.264 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:51:27.304 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:27.325 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:27.639 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:51:27.840 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:51:28.267 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:51:28.448 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032252753655788 m^1. Interpolating depth and velocity.
09:51:29.271 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:51:29.351 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:29.371 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:30.274 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:51:31.278 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:51:31.378 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
09:51:31.399 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
09:51:32.281 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:51:32.462 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0032269336966921 m^1. Interpolating depth and velocity.
09:51:32.663 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:51:32.864 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_ranges", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:51:33.245 INFO  [robot_code/utilities/simulator/src/simulator.rs:330] Simulator dropped: Simulator()
09:51:33.254 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
09:51:33.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
09:51:33.661 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
09:51:47.866 INFO  [robot_code/utilities/logging/src/logging.rs:93] ================================================================================
09:51:47.866 INFO  [robot_code/utilities/logging/src/logging.rs:94] Starting new Rust log session at 2025-10-29 09:51:47.866586769 +01:00
09:51:47.866 INFO  [robot_code/utilities/logging/src/logging.rs:95] ================================================================================
09:51:47.866 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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
09:51:47.866 INFO  [robot_code/utilities/logging/src/logger_manager.rs:93] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2025-10-29_09-51-47_simulated_scout.lobsterlog")
09:51:47.868 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logging/high_frequency
09:51:47.869 INFO  [robot_code/robot_core/launch/src/lib.rs:133] Launching robot code with following settings:
Settings { actuation: ActuationSettings { max_current_change_per_second: 200.0, thruster_models: {"DD80_S3_tailcone_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] }, "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_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] }, "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] }}, 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 } }, 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], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]}), 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: true, 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: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, 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 } }
09:51:47.938 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], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
09:51:47.938 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
09:51:47.939 INFO  [robot_code/utilities/simulator/src/simulator.rs:89] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, 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 } }
09:51:48.061 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], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
09:51:48.062 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
09:51:48.568 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], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
09:51:48.568 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
09:51:48.568 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
09:51:48.568 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
09:51:48.569 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
09:51:48.569 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
09:51:48.569 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
09:51:48.569 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
09:51:48.569 WARN  [robot_code/robot_core/launch/src/lib.rs:521] IMU not enabled
09:51:48.569 WARN  [robot_code/robot_core/launch/src/lib.rs:539] Magnetometer not enabled
09:51:48.569 WARN  [robot_code/robot_core/launch/src/lib.rs:179] Magnetometer not enabled, state estimation will not be able to use it
09:51:48.569 WARN  [robot_code/robot_core/launch/src/lib.rs:595] Nortek DVL not enabled
09:51:48.569 WARN  [robot_code/robot_core/launch/src/lib.rs:574] GPS not enabled
09:51:48.569 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
09:51:48.569 DEBUG [robot_code/peripherals/actuation/src/lib.rs:231] Started simulated thruster module
09:51:48.569 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_range_image
09:51:48.590 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_intensity_image
09:51:48.591 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulated_sonar
09:51:48.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulated_sonar' with StopRunningFlag { name: "simulated_sonar", id: 0, stop_running: false, do_auto_stop: true }
09:51:48.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulated_sonar' successfully started
09:51:48.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
09:51:48.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulated_sonar with pid: 81983
09:51:48.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
09:51:48.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
09:51:48.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
09:51:48.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
09:51:48.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
09:51:48.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
09:51:48.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
09:51:48.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
09:51:48.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
09:51:48.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
09:51:48.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
09:51:48.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
09:51:48.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
09:51:48.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
09:51:48.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
09:51:48.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
09:51:48.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
09:51:48.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
09:51:48.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
09:51:48.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
09:51:48.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
09:51:48.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
09:51:48.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
09:51:48.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
09:51:48.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
09:51:48.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
09:51:48.594 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], "dvl_location": [1.3305, 0.0, 0.0176], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "imu_location": [1.22915, -0.07144, -0.03025], "gps_location": [0.93573, 0.00255, -0.17048], "sonar_location": [1.81926, 0.0, 0.00717], "ps_location": [1.28577, 0.0, 0.06725], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0]})
09:51:48.594 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
09:51:48.594 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
09:51:48.594 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 }
09:51:48.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
09:51:48.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
09:51:48.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 82011
09:51:48.595 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Control starting...
09:51:48.595 INFO  [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0
09:51:48.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
09:51:48.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
09:51:48.605 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
09:51:48.605 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 }
09:51:48.605 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
09:51:48.605 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 82015
09:51:48.635 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
09:51:48.701 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
09:51:48.701 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop
09:51:48.701 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 }
09:51:48.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
09:51:48.701 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
09:51:48.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: payload_sessions
09:51:48.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 82017
09:51:48.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
09:51:48.721 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
09:51:48.721 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 }
09:51:48.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
09:51:48.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 82020
09:51:48.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
09:51:48.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/active_tasks
09:51:48.722 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
09:51:48.722 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 }
09:51:48.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
09:51:48.722 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
09:51:48.722 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
09:51:48.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 82071
09:51:48.722 INFO  [robot_code/peripherals/communication/src/lib.rs:98] grpc listening on 0.0.0.0:10820
09:51:48.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
09:51:48.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
09:51:48.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
09:51:48.723 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
09:51:48.723 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
09:51:48.723 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 }
09:51:48.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
09:51:48.723 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
09:51:48.723 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 }
09:51:48.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
09:51:48.723 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
09:51:48.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 82076
09:51:48.723 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 }
09:51:48.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 82077
09:51:48.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
09:51:48.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 82078
09:51:48.741 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:51:48.741 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
09:51:48.741 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for hardware_checks
09:51:48.743 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
09:51:48.743 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
09:51:48.743 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_service
09:51:48.743 INFO  [robot_code/peripherals/communication/src/sonar_service.rs:48] Creating sonar service
09:51:48.743 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.
09:51:48.744 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
09:51:48.744 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 }
09:51:48.744 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
09:51:48.744 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 82080
09:51:48.744 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
09:51:48.744 INFO  [robot_code/robot_core/launch/src/lib.rs:494] Waiting until code stops running so threads can be joined
09:51:48.744 INFO  [robot_code/robot_core/launch/src/lib.rs:504] Trying to join thread 'simulated_sonar'
09:51:48.744 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces
09:51:48.744 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"]
09:51:48.769 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:51:48.781 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:51:48.781 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:51:48.881 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
09:51:48.884 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {"sensors": Object {"magnetometer": Object {"magA": Array [Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0)], "magB": Array [Number(0.0), Number(1.0), Number(0.0)]}}}
09:51:48.884 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'device_settings'. Description: Dynamic device specific settings. During runtime, these settings can be changed either by the user or by the robot itself.
09:51:48.884 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
09:51:48.884 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
09:51:48.886 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {}
09:51:48.886 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'default'. Description: 
09:51:48.970 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_state", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:51:49.644 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 46.12Hz
09:51:50.647 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:51:50.783 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "get_task_queue", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
09:51:51.651 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:51:52.654 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:51:52.985 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_ranges
09:51:52.986 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_intensities
09:51:53.657 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:51:54.660 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:51:55.663 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:51:56.667 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:51:57.670 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:51:58.673 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:51:59.677 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:00.680 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:52:01.683 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:52:02.687 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:52:02.727 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: '10.0 x 10.0 m Inspection')
09:52:02.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
09:52:03.690 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:52:04.031 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
09:52:04.031 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
09:52:04.031 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:576] Starting a Upright task 'Upright task'
09:52:04.081 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
09:52:04.081 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 98d041b3-a18c-46f2-8714-78b89da29948, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
09:52:04.081 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [DirectControl(ControlGoalWithMeta { id: 98d041b3-a18c-46f2-8714-78b89da29948, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
09:52:04.091 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 98d041b3-a18c-46f2-8714-78b89da29948, start_time: Some(15.36 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started)
09:52:04.091 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:430] Discarded 0 path planner updates before receiving the expected update
09:52:04.091 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Upright, name: 'Upright task', id: ddaa2407-b6ad-4738-a877-3f54f809e767)"), mode: None }
09:52:04.101 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.11044726760695771, Enable control depth: 0.2, Depth control enabled: true
09:52:04.102 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 98d041b3-a18c-46f2-8714-78b89da29948, start_time: Some(15.36 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished)
09:52:04.102 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
09:52:04.102 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
09:52:04.102 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.11044726760695771 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
09:52:04.111 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 98d041b3-a18c-46f2-8714-78b89da29948, start_time: Some(15.36 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })
09:52:04.111 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:576] Starting a SurveyArea task '10.0 x 10.0 m Inspection'
09:52:04.121 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
09:52:04.121 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
09:52:04.181 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
09:52:04.181 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
09:52:04.182 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
09:52:04.182 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:430] Discarded 0 path planner updates before receiving the expected update
09:52:04.182 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: '10.0 x 10.0 m Inspection', id: 0b1e845d-07f2-4298-916b-030103e72202)"), mode: None }
09:52:04.182 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:33] StopRunningFlag created with ID: 1
09:52:04.182 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 1 cloned for mocked_camera_state
09:52:04.203 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.10438183057418472, Enable control depth: 0.2, Depth control enabled: true
09:52:04.203 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1432303179206036 m^1. Interpolating depth and velocity.
09:52:04.203 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.4289169610375958 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -5.006847065986079 m^1, east: -2.497799294091668 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -5.006847065986079 m^1, east: -2.497799294091668 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(3.0 m^1), orientation_point: None, hold_duration: None } }], [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.006847065986079 m^1, east: -2.497799294091668 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 5.184881317316609 m^1, east: -2.497799294091668 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 3.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.184881347118932 m^1, east: 0.07844541179068454 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -5.006847065986079 m^1, east: 0.07844541179068454 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 3.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.006847036183757 m^1, east: 2.654690117673037 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 5.184881376921254 m^1, east: 2.654690117673037 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 3.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }]
09:52:04.203 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
09:52:04.203 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
09:52:04.203 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.10438183057418472 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
09:52:04.203 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing { lower_time_estimate: 67.27902251189478 s^1, upper_time_estimate: 220.91853376784218 s^1 })
09:52:04.203 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
09:52:04.211 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Preparing { lower_time_estimate: 67.27902251189478 s^1, upper_time_estimate: 220.91853376784218 s^1 } for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:04.693 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:52:04.974 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:426] Details: Current depth goal: 0.2005660993753433, Enable control depth: 0.2, Depth control enabled: false
09:52:04.974 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:159] Enabling depth control and reset z-velocity PID controller
09:52:05.696 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:06.520 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:197] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
09:52:06.699 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:52:07.703 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:08.205 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1475124201082085 m^1. Interpolating depth and velocity.
09:52:08.706 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:52:09.710 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:52:10.713 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:11.716 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:12.218 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1397042904048167 m^1. Interpolating depth and velocity.
09:52:12.719 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:52:13.722 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:52:14.726 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:52:15.729 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:52:16.231 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9504968588785023 m^1. Interpolating depth and velocity.
09:52:16.733 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:17.736 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:18.740 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:52:19.744 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:52:20.247 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9327655254023375 m^1. Interpolating depth and velocity.
09:52:20.748 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:21.752 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:52:22.755 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:23.158 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:23.158 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
09:52:23.177 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:23.220 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_0.raw" at altitude: Some(2.937553028288508)
09:52:23.759 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:52:24.762 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:52:25.184 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:25.205 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:25.766 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:52:26.770 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:52:27.212 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:27.232 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:27.774 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:52:28.777 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:29.260 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:29.280 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:29.782 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:52:30.785 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:31.287 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:31.307 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:31.789 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:52:32.472 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:52:32.792 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:52:33.314 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:33.335 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:33.797 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:52:33.877 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_1.raw" at altitude: Some(3.0488725271300026)
09:52:34.800 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:35.342 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:35.362 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:35.804 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:52:36.487 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_4.raw" at altitude: Some(3.040667477279156)
09:52:36.807 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:52:37.389 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:37.409 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:37.811 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:38.814 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:52:39.076 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_7.raw" at altitude: Some(3.022970025615841)
09:52:39.417 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:39.437 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:39.818 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:52:40.822 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:52:41.444 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:41.464 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:41.665 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_10.raw" at altitude: Some(2.9904313217855085)
09:52:41.825 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:52:41.946 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:52:42.829 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:43.472 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:43.493 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:43.833 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:52:43.874 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_11.raw" at altitude: Some(2.8679987932854694)
09:52:44.034 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:52:44.837 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:52:45.520 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:45.541 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:52:45.541 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:45.841 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:52:46.565 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:52:46.845 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:52:47.548 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:47.568 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:47.769 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_13.raw" at altitude: Some(2.9691768692146483)
09:52:47.849 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:52:48.852 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:52:49.575 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:49.595 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:49.856 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:52:50.479 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_16.raw" at altitude: Some(2.953039032427659)
09:52:50.860 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:52:51.603 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:51.623 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:51.863 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:51.864 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:52:52.586 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_18.raw" at altitude: Some(3.168758969387346)
09:52:52.867 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:52:53.088 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:52:53.650 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:53.670 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:53.870 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:54.254 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:52:54.714 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_19.raw" at altitude: Some(3.1080509399532117)
09:52:54.854 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:52:54.874 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:55.676 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:55.696 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:55.877 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:52:56.880 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:52:57.263 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_21.raw" at altitude: Some(3.0550663350608214)
09:52:57.703 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:57.724 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:57.884 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:58.887 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:52:59.731 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:52:59.751 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:52:59.891 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:52:59.931 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_24.raw" at altitude: Some(3.0037145421799267)
09:53:00.172 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
09:53:00.894 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:01.779 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:01.780 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:01.899 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:53:02.902 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:03.548 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_25.raw" at altitude: Some(3.0279090506979323)
09:53:03.809 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:03.829 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:03.909 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.68Hz
09:53:04.912 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:53:05.815 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_26.raw" at altitude: Some(3.013109958174379)
09:53:05.835 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:05.856 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:05.916 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:06.919 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:53:07.863 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:07.884 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:07.923 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:53:07.964 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_27.raw" at altitude: Some(2.9748690363439585)
09:53:08.929 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.74Hz
09:53:09.912 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:09.932 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:53:09.933 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:10.013 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_28.raw" at altitude: Some(2.942156183210015)
09:53:10.936 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:11.939 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:11.940 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:11.960 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:12.943 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:13.947 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:13.967 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:13.987 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:14.148 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_30.raw" at altitude: Some(3.00239074409482)
09:53:14.288 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:53:14.950 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:53:15.835 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:53:15.955 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
09:53:15.995 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:16.016 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:16.437 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:53:16.959 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:17.762 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:53:17.782 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_32.raw" at altitude: Some(2.8976042310561914)
09:53:17.962 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:18.043 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:18.063 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:18.364 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:53:18.966 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:53:19.970 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:53:20.071 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:20.091 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:20.613 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_34.raw" at altitude: Some(2.9748976060853147)
09:53:20.974 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:53:21.957 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:53:21.977 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.87Hz
09:53:22.098 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:22.118 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:22.158 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:53:22.801 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_36.raw" at altitude: Some(2.954276382114519)
09:53:22.981 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:53:23.985 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:53:24.126 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:24.147 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:24.427 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:53:24.989 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:25.029 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:53:25.712 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_38.raw" at altitude: Some(2.9383709144980337)
09:53:25.993 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:53:26.174 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:26.194 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:26.996 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:53:27.779 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_40.raw" at altitude: Some(3.049643669007029)
09:53:27.920 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:53:28.000 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:28.201 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:28.221 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:29.003 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:29.568 WARN  [robot_code/peripherals/payload/src/coverage_tracker.rs:55] Sensor data is out of range
09:53:30.008 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.76Hz
09:53:30.229 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:30.249 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:31.012 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:53:31.254 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:53:31.715 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_42.raw" at altitude: Some(3.0481840677923273)
09:53:32.015 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:53:32.257 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:32.277 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:33.020 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:53:33.904 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_44.raw" at altitude: Some(3.014084912269154)
09:53:34.024 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:53:34.306 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:34.326 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:34.366 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:53:35.028 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:53:36.033 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.74Hz
09:53:36.275 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_45.raw" at altitude: Some(2.7766129999854465)
09:53:36.335 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:36.355 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:37.037 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:53:37.118 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:53:38.040 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:53:38.362 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:38.382 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:38.723 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_46.raw" at altitude: Some(2.9807009687503596)
09:53:39.044 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:40.047 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:53:40.388 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:40.409 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:41.050 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:53:41.191 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:53:41.412 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_49.raw" at altitude: Some(2.878641013991668)
09:53:42.054 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:53:42.235 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:53:42.446 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:42.456 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:43.057 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
09:53:43.639 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_50.raw" at altitude: Some(2.936833295845161)
09:53:44.060 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:53:44.462 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:44.482 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:45.064 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:53:46.067 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:53:46.318 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_53.raw" at altitude: Some(3.0119963441054116)
09:53:46.489 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:46.519 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:47.071 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:53:48.075 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:48.464 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
09:53:48.517 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:48.537 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:49.078 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:50.082 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:50.564 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:50.564 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:51.086 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:53:51.790 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_56.raw" at altitude: Some(3.059075203115371)
09:53:52.091 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:53:52.593 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:52.613 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:53.094 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:53:53.917 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_57.raw" at altitude: Some(3.0996616191594826)
09:53:54.097 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:53:54.619 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:54.639 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:55.101 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:53:56.104 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:56.646 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:56.666 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:57.108 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:53:57.811 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_59.raw" at altitude: Some(3.014816839777925)
09:53:58.112 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:53:58.694 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:53:58.715 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:53:59.115 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:53:59.899 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_60.raw" at altitude: Some(2.9632583088355986)
09:54:00.120 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
09:54:00.723 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:00.743 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:01.124 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:54:01.927 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_61.raw" at altitude: Some(2.935996307858421)
09:54:02.127 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:54:02.609 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:54:02.750 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:02.770 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:03.131 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:54:03.934 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:54:04.055 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_62.raw" at altitude: Some(2.892582531945986)
09:54:04.134 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:54:04.336 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:54:04.783 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:04.797 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:05.138 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:54:05.740 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:54:06.068 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:54:06.141 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:54:06.824 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:06.844 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:07.146 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:54:07.287 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_64.raw" at altitude: Some(2.9321033763588185)
09:54:08.149 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:54:08.851 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:08.852 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:09.152 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:54:09.976 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_67.raw" at altitude: Some(3.082380607200168)
09:54:10.156 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:54:10.297 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:54:10.678 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:54:10.879 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:10.899 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:11.160 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:54:12.163 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:54:12.444 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_69.raw" at altitude: Some(3.040931949176791)
09:54:12.906 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:12.927 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:13.167 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
09:54:14.171 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:54:14.955 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:14.975 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:15.116 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_72.raw" at altitude: Some(3.0137219706975937)
09:54:15.175 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:54:16.179 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:54:16.781 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:54:16.982 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:17.002 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:54:17.002 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:17.182 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
09:54:18.186 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:54:18.267 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_75.raw" at altitude: Some(3.0722969364803383)
09:54:19.009 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:19.029 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:19.189 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:54:19.912 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:54:20.194 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:54:21.038 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:21.058 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:21.198 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:54:22.202 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:54:23.085 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:23.105 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:23.205 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:54:23.587 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_78.raw" at altitude: Some(2.894456822253558)
09:54:23.627 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:54:24.209 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:54:25.113 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:25.133 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:25.213 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:54:26.116 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_80.raw" at altitude: Some(2.998412087030973)
09:54:26.216 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
09:54:26.298 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:54:27.060 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:54:27.141 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:27.160 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:27.220 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:54:27.261 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:54:27.602 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:54:28.224 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
09:54:28.546 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:54:28.666 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_81.raw" at altitude: Some(3.780529678614991)
09:54:28.666 WARN  [robot_code/peripherals/payload/src/coverage_tracker.rs:55] Sensor data is out of range
09:54:28.847 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:54:29.168 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:29.188 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:29.228 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:54:30.231 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
09:54:30.613 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:54:31.215 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:31.235 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:54:31.236 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:31.315 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:54:32.239 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:54:32.320 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_83.raw" at altitude: Some(3.02902494710454)
09:54:32.861 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
09:54:33.242 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:54:33.243 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:33.263 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:34.246 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:54:35.249 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
09:54:35.270 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:35.290 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:35.330 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
09:54:36.253 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
09:54:36.695 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/0b1e845d-10_0_x_10_0_m_Inspection/photos/mocked_image_85.raw" at altitude: Some(2.95878098312611)
09:54:37.257 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
09:54:37.297 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
09:54:37.318 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:37.659 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
09:54:37.679 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished)
09:54:37.679 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:526] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
09:54:37.699 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
09:54:37.699 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114631535081 0.07626792997906845,0.9084130304591782 0.07626792997906845,0.9084130304591782 0.07627047990510588,0.9084114631535081 0.07627047990510588,0.9084114631535081 0.07626792997906845)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
09:54:37.699 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
09:54:37.699 WARN  [robot_code/peripherals/payload/src/lib.rs:127] Payload session was dropped without being stopped, stopping it now
09:54:37.719 INFO  [robot_code/peripherals/payload/src/position_camera.rs:266] Stopping PositionCamera recording, because receiver stopped
09:54:37.719 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:176] Camera trigger responder stopped: RecvError
09:54:37.719 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:180] Stopped mocked camera recording.
09:54:37.719 ERROR [robot_code/utilities/common/src/utils/stop_running_flag.rs:105] StopRunningFlag { name: "mocked_camera_loop", id: 1, stop_running: false, do_auto_stop: true } got dropped, stopping associated threads...
09:54:37.719 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:93] Stopping StopRunningFlag { name: "mocked_camera_loop", id: 1, stop_running: false, do_auto_stop: true }...
09:54:37.739 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
09:54:37.739 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
09:54:37.739 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
09:54:37.739 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:430] Discarded 0 path planner updates before receiving the expected update
09:54:37.739 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Started)
09:54:37.739 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:270] Waiting for active task with spawned in Hold task 'waiting, hold position'
09:54:37.739 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'waiting, hold position', id: dd96db00-9b96-4dad-a721-f460afa7e48d)"), mode: None }
09:54:37.769 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
09:54:37.770 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9949707427927832 m^1. Interpolating depth and velocity.
09:54:37.770 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Current, target_velocity: 0.5 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }], [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(0.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }]
09:54:37.770 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 5.115744138197584 m^1, east: 2.6559075658477957 m^1, down: 1.0455165050719848 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
09:54:37.770 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Preparing { lower_time_estimate: 5.2275825253599235 s^1, upper_time_estimate: 37.84137378803989 s^1 })
09:54:37.770 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })
09:54:37.779 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Preparing { lower_time_estimate: 5.2275825253599235 s^1, upper_time_estimate: 37.84137378803989 s^1 } for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
09:54:37.799 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
09:54:37.799 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })
09:54:37.819 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
09:54:38.261 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
09:54:39.265 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.76Hz
09:54:39.848 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
09:54:39.867 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:504] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
09:54:40.148 INFO  [robot_code/utilities/simulator/src/simulator.rs:330] Simulator dropped: Simulator()
09:54:40.178 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
09:54:40.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
09:54:40.744 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
09:54:40.932 INFO  [robot_code/peripherals/communication/src/lib.rs:194] Shutting down gRPC server
09:54:41.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulated_sonar' stopped
09:54:41.049 INFO  [robot_code/robot_core/launch/src/lib.rs:508] Joined thread 'simulated_sonar'
09:54:41.049 INFO  [robot_code/robot_core/launch/src/lib.rs:504] Trying to join thread 'control'
09:54:41.049 INFO  [robot_code/robot_core/launch/src/lib.rs:508] Joined thread 'control'
09:54:41.049 INFO  [robot_code/robot_core/launch/src/lib.rs:504] Trying to join thread 'simulator'
09:54:41.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
09:54:41.439 INFO  [robot_code/robot_core/launch/src/lib.rs:508] Joined thread 'simulator'
09:54:41.439 INFO  [robot_code/robot_core/launch/src/lib.rs:504] Trying to join thread 'path_planner'
09:54:50.757 WARN  [robot_code/robot_core/launch/src/lib.rs:489] Not stopped after 10 seconds, aborting program
11:47:27.237 INFO  [robot_code/utilities/logging/src/logging.rs:93] ================================================================================
11:47:27.237 INFO  [robot_code/utilities/logging/src/logging.rs:94] Starting new Rust log session at 2025-10-29 11:47:27.237906078 +01:00
11:47:27.237 INFO  [robot_code/utilities/logging/src/logging.rs:95] ================================================================================
11:47:27.237 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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
11:47:27.238 INFO  [robot_code/utilities/logging/src/logger_manager.rs:93] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2025-10-29_11-47-27_simulated_scout.lobsterlog")
11:47:27.243 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logging/high_frequency
11:47:27.244 INFO  [robot_code/robot_core/launch/src/lib.rs:138] Launching robot code with following settings:
Settings { actuation: ActuationSettings { max_current_change_per_second: 200.0, thruster_models: {"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] }, "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] }}, 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({"gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]}), 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: true, 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: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, visualize_beams: true }, 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: 20.0, max_force: 60.0, max_pitch_deg: 20.0, max_roll_deg: 20.0, max_dive_velocity: 0.1, min_altitude: 0.5, 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 } }
11:47:27.328 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
11:47:27.328 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
11:47:27.329 INFO  [robot_code/utilities/simulator/src/simulator.rs:89] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, visualize_beams: true }, 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 } }
11:47:27.494 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
11:47:27.494 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
11:47:33.849 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
11:47:33.849 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
11:47:33.849 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
11:47:33.850 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
11:47:33.850 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
11:47:33.850 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
11:47:33.850 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
11:47:33.851 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
11:47:33.851 WARN  [robot_code/robot_core/launch/src/lib.rs:553] IMU not enabled
11:47:33.851 WARN  [robot_code/robot_core/launch/src/lib.rs:571] Magnetometer not enabled
11:47:33.851 WARN  [robot_code/robot_core/launch/src/lib.rs:184] Magnetometer not enabled, state estimation will not be able to use it
11:47:33.851 WARN  [robot_code/robot_core/launch/src/lib.rs:627] Nortek DVL not enabled
11:47:33.851 WARN  [robot_code/robot_core/launch/src/lib.rs:606] GPS not enabled
11:47:33.851 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
11:47:33.851 DEBUG [robot_code/peripherals/actuation/src/lib.rs:231] Started simulated thruster module
11:47:33.851 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
11:47:33.851 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
11:47:33.851 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
11:47:33.851 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
11:47:33.851 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
11:47:33.851 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
11:47:33.852 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
11:47:33.852 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
11:47:33.852 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
11:47:33.852 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
11:47:33.852 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
11:47:33.852 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
11:47:33.852 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
11:47:33.852 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
11:47:33.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
11:47:33.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
11:47:33.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
11:47:33.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
11:47:33.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
11:47:33.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
11:47:33.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
11:47:33.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
11:47:33.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
11:47:33.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
11:47:33.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
11:47:33.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
11:47:33.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
11:47:33.854 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "sonar_location": [1.81926, 0.0, 0.00717], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "camera_front_location": [1.1187, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825]})
11:47:33.854 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
11:47:33.854 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
11:47:33.854 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 }
11:47:33.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
11:47:33.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 190150
11:47:33.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_range_image
11:47:33.854 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Control starting...
11:47:33.854 INFO  [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0
11:47:33.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_intensity_image
11:47:33.859 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulated_sonar
11:47:33.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulated_sonar' with StopRunningFlag { name: "simulated_sonar", id: 0, stop_running: false, do_auto_stop: true }
11:47:33.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulated_sonar' successfully started
11:47:33.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulated_sonar with pid: 190153
11:47:33.859 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_manager
11:47:33.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'sonar_manager' with StopRunningFlag { name: "sonar_manager", id: 0, stop_running: false, do_auto_stop: true }
11:47:33.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'sonar_manager' successfully started
11:47:33.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
11:47:33.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread sonar_manager with pid: 190154
11:47:33.860 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
11:47:33.860 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
11:47:33.864 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
11:47:33.864 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 }
11:47:33.864 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
11:47:33.864 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 190158
11:47:33.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
11:47:33.942 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
11:47:33.942 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop
11:47:33.942 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 }
11:47:33.942 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
11:47:33.942 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
11:47:33.942 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_payload
11:47:33.942 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: payload_sessions
11:47:33.942 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 190160
11:47:33.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
11:47:33.963 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
11:47:33.963 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 }
11:47:33.963 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
11:47:33.963 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 190165
11:47:33.963 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
11:47:33.963 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/active_tasks
11:47:33.964 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
11:47:33.964 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 }
11:47:33.964 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
11:47:33.964 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
11:47:33.964 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
11:47:33.964 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 190216
11:47:33.964 INFO  [robot_code/peripherals/communication/src/lib.rs:102] grpc listening on 0.0.0.0:10820
11:47:33.964 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
11:47:33.964 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
11:47:33.964 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
11:47:33.964 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
11:47:33.964 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
11:47:33.964 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 }
11:47:33.964 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
11:47:33.964 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
11:47:33.964 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 }
11:47:33.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
11:47:33.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 190221
11:47:33.965 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
11:47:33.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 190222
11:47:33.965 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 }
11:47:33.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
11:47:33.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 190223
11:47:33.982 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
11:47:33.982 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
11:47:33.982 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for hardware_checks
11:47:33.984 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
11:47:33.984 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
11:47:33.984 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_service
11:47:33.984 INFO  [robot_code/peripherals/communication/src/sonar_service.rs:54] Creating sonar service
11:47:33.985 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.
11:47:33.985 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
11:47:33.985 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 }
11:47:33.985 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
11:47:33.985 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 190225
11:47:33.985 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces
11:47:33.985 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"]
11:47:33.985 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
11:47:33.985 INFO  [robot_code/robot_core/launch/src/lib.rs:526] Waiting until code stops running so threads can be joined
11:47:33.985 INFO  [robot_code/robot_core/launch/src/lib.rs:536] Trying to join thread 'control'
11:47:34.885 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 46.99Hz
11:47:35.889 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
11:47:36.892 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:47:37.895 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:47:38.898 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:47:39.904 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.69Hz
11:47:40.908 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:47:41.910 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:47:42.913 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:47:43.919 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.71Hz
11:47:44.505 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
11:47:44.523 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
11:47:44.523 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
11:47:44.530 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
11:47:44.543 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
11:47:44.543 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
11:47:44.545 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
11:47:44.546 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
11:47:44.549 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {"sensors": Object {"magnetometer": Object {"magA": Array [Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0)], "magB": Array [Number(0.0), Number(1.0), Number(0.0)]}}}
11:47:44.549 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'device_settings'. Description: Dynamic device specific settings. During runtime, these settings can be changed either by the user or by the robot itself.
11:47:44.551 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {}
11:47:44.551 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'default'. Description: 
11:47:44.563 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
11:47:44.563 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
11:47:44.563 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
11:47:44.563 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
11:47:44.606 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_state", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
11:47:44.631 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_state", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
11:47:44.646 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_state", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
11:47:44.924 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
11:47:45.525 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "get_task_queue", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
11:47:45.544 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "get_task_queue", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
11:47:45.564 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "get_task_queue", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
11:47:45.927 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:47:46.930 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:47:47.933 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:47:48.937 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:47:49.940 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:47:50.944 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:47:51.947 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:47:52.950 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:47:53.953 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:47:54.956 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:47:55.959 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:47:56.962 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:47:57.584 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: '10.0 x 10.0 m Inspection')
11:47:57.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
11:47:57.965 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:47:58.968 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:47:59.670 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
11:47:59.670 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
11:47:59.671 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:577] Starting a Upright task 'Upright task'
11:47:59.691 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
11:47:59.691 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [DirectControl(ControlGoalWithMeta { id: 42215b93-9cfc-41b1-a90b-fdf68118c13d, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
11:47:59.691 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 42215b93-9cfc-41b1-a90b-fdf68118c13d, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
11:47:59.701 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 42215b93-9cfc-41b1-a90b-fdf68118c13d, start_time: Some(25.68 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started)
11:47:59.701 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:434] Discarded 0 path planner updates before receiving the expected update
11:47:59.701 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Upright, name: 'Upright task', id: 6e8e597a-0263-487f-9f52-e2ca0aedf930)"), mode: None }
11:47:59.721 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 42215b93-9cfc-41b1-a90b-fdf68118c13d, start_time: Some(25.68 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished)
11:47:59.721 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.09838461793550998, Enable control depth: 0.2, Depth control enabled: true
11:47:59.721 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
11:47:59.721 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09838461793550998 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
11:47:59.721 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
11:47:59.731 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 42215b93-9cfc-41b1-a90b-fdf68118c13d, start_time: Some(25.68 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })
11:47:59.731 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:577] Starting a SurveyArea task '10.0 x 10.0 m Inspection'
11:47:59.751 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
11:47:59.751 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
11:47:59.781 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
11:47:59.781 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
11:47:59.781 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
11:47:59.781 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:434] Discarded 0 path planner updates before receiving the expected update
11:47:59.781 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: '10.0 x 10.0 m Inspection', id: 2beb6ba6-3149-4f6e-bc26-b77f9c9a1858)"), mode: None }
11:47:59.781 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:33] StopRunningFlag created with ID: 1
11:47:59.781 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 1 cloned for mocked_camera_state
11:47:59.801 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.09829878439062159, Enable control depth: 0.2, Depth control enabled: true
11:47:59.801 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1432303179206036 m^1. Interpolating depth and velocity.
11:47:59.801 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
11:47:59.801 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing { lower_time_estimate: 67.33964538872381 s^1, upper_time_estimate: 221.00946808308572 s^1 })
11:47:59.801 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.4289169610375958 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -5.018085191642861 m^1, east: 2.4565681056500974 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -5.018085191642861 m^1, east: 2.4565681056500974 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(3.0 m^1), orientation_point: None, hold_duration: None } }], [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.018085191642861 m^1, east: 2.4565681056500974 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 5.184992571676155 m^1, east: 2.4565681056500974 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 3.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.184992601478477 m^1, east: -0.11967660023225513 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -5.018085161840538 m^1, east: -0.11967660023225513 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 3.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.018085132038216 m^1, east: -2.6959213061146077 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 5.184992661083122 m^1, east: -2.6959213061146077 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 3.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: Some(0.0) } }]
11:47:59.801 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: -2.5101940408225626e-26 m^1, east: -6.985313697777761e-29 m^1, down: 0.09829878439062159 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
11:47:59.801 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
11:47:59.801 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
11:47:59.811 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Preparing { lower_time_estimate: 67.33964538872381 s^1, upper_time_estimate: 221.00946808308572 s^1 } for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:47:59.971 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:00.613 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:426] Details: Current depth goal: 0.20449453723626698, Enable control depth: 0.2, Depth control enabled: false
11:48:00.613 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:159] Enabling depth control and reset z-velocity PID controller
11:48:00.974 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:01.977 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:48:02.178 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:197] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
11:48:02.981 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:03.803 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1432856592186464 m^1. Interpolating depth and velocity.
11:48:03.984 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:04.987 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:05.990 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:06.993 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:07.816 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1424280729696372 m^1. Interpolating depth and velocity.
11:48:07.996 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:09.000 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
11:48:10.003 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:11.006 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:11.829 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.0070675605539545 m^1. Interpolating depth and velocity.
11:48:12.009 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:13.012 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:14.016 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:15.019 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:15.841 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.9641746406065859 m^1. Interpolating depth and velocity.
11:48:16.022 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:17.025 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:18.028 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:18.430 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:18.430 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
11:48:18.450 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:18.492 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_0.raw" at altitude: Some(2.9902640403753153)
11:48:19.032 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:20.035 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:20.456 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:20.476 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:21.038 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:22.041 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:22.482 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:22.502 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:23.044 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:24.047 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:24.538 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:24.539 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:25.050 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:26.053 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:26.555 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:26.585 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:27.056 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:27.738 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:48:28.059 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:28.581 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:28.601 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:29.022 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_1.raw" at altitude: Some(2.9410161051647337)
11:48:29.062 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:29.403 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:48:29.784 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:48:30.065 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:30.607 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:30.627 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:31.068 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:31.550 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_3.raw" at altitude: Some(2.9019170662704044)
11:48:32.071 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:32.653 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:32.674 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:33.074 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:34.078 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:34.201 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_6.raw" at altitude: Some(3.075758363407876)
11:48:34.662 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:48:34.682 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:34.702 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:35.065 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:48:35.085 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.65Hz
11:48:36.088 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:36.690 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_8.raw" at altitude: Some(3.024231426898683)
11:48:36.710 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:36.730 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:37.091 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:38.094 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:38.736 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:38.756 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:39.097 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:39.368 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_11.raw" at altitude: Some(2.990270124301862)
11:48:40.100 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:40.782 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:40.802 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:41.103 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:41.284 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:48:41.484 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:48:42.106 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:42.468 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_14.raw" at altitude: Some(3.066831072910619)
11:48:42.819 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:42.829 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:43.109 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:44.012 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:48:44.112 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:44.835 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:44.855 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:45.115 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:46.119 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:46.862 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:46.890 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:47.122 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:48:47.805 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_17.raw" at altitude: Some(2.89297216351759)
11:48:47.865 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:48:48.125 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:48.908 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:48.928 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:49.128 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:50.131 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:50.373 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_19.raw" at altitude: Some(2.9982952542096286)
11:48:50.533 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:48:50.935 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:50.955 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:51.135 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
11:48:51.416 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:48:51.557 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:48:52.018 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:48:52.138 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:48:52.921 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:48:52.961 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:52.981 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:53.141 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:53.230 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:48:53.230 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_20.raw" at altitude: Some(3.048756861578574)
11:48:54.145 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:48:54.225 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:48:54.988 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:55.008 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:55.148 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:56.111 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_21.raw" at altitude: Some(3.479676337134409)
11:48:56.111 WARN  [robot_code/peripherals/payload/src/coverage_tracker.rs:55] Sensor data is out of range
11:48:56.151 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:48:57.034 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:57.054 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:57.154 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:48:57.967 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:48:58.158 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:48:58.339 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_22.raw" at altitude: Some(3.0537456272514425)
11:48:59.001 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:48:59.061 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:48:59.061 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:48:59.161 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:49:00.165 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:49:01.088 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:01.108 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:01.168 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:49:02.171 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:03.124 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:03.134 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:03.174 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:04.177 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:49:04.628 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_23.raw" at altitude: Some(3.4670406551132418)
11:49:05.160 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:05.180 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:05.180 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:06.183 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:49:07.186 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:07.186 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:07.216 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:08.189 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:09.192 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:09.213 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:09.233 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:10.196 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:49:10.898 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:10.918 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:49:11.199 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:49:11.239 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:11.259 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:12.202 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:49:13.205 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:49:13.286 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:13.286 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:14.148 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:14.188 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:49:14.208 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:15.091 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:15.111 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:49:15.211 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:49:15.312 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:15.332 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:16.215 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:49:16.696 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:17.218 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:17.309 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:49:17.338 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:17.358 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:17.499 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:18.101 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_24.raw" at altitude: Some(2.957646933602194)
11:49:18.221 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:49:19.104 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:49:19.184 WARN  [robot_code/peripherals/payload/src/coverage_tracker.rs:55] Sensor data is out of range
11:49:19.224 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:19.365 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:19.385 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:20.227 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:49:21.230 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:21.411 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:21.431 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:21.512 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_26.raw" at altitude: Some(3.1079392184262766)
11:49:21.572 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:22.233 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:23.236 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:49:23.437 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:23.457 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:24.119 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
11:49:24.239 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:49:24.408 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_28.raw" at altitude: Some(2.883549719663374)
11:49:25.242 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:25.463 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:25.492 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:26.245 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:27.248 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:49:27.249 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_29.raw" at altitude: Some(2.6830008624621753)
11:49:27.489 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:27.509 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:28.252 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:49:29.255 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:29.456 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_30.raw" at altitude: Some(2.7110438483038917)
11:49:29.536 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:29.565 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:30.258 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:49:31.261 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:31.562 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:31.562 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_31.raw" at altitude: Some(2.9602293259854178)
11:49:31.582 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:32.264 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:49:33.267 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:33.588 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:33.588 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_32.raw" at altitude: Some(3.0996119591690596)
11:49:33.608 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:34.270 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:35.273 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:35.614 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:35.634 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:36.276 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:36.978 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:37.279 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:37.660 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:37.680 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:37.861 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:49:37.861 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_34.raw" at altitude: Some(2.8984427441522733)
11:49:38.282 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:49:38.463 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:39.285 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:39.466 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:49:39.686 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:39.706 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:39.875 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:40.100 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_35.raw" at altitude: Some(2.9169162106951103)
11:49:40.288 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:49:41.290 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:49:41.712 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:41.732 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:42.293 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:42.374 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_37.raw" at altitude: Some(3.0028418427022947)
11:49:43.296 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:43.738 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:43.758 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:43.919 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:49:44.200 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:44.300 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:49:44.392 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:49:44.842 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:45.303 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:49:45.785 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:45.805 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:46.306 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:46.347 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_40.raw" at altitude: Some(2.948895213298767)
11:49:47.309 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:49:47.511 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:49:47.811 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:47.832 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:48.313 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:49:49.115 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:49.156 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:49:49.316 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:49.838 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:49.858 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:50.319 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:49:51.001 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:51.322 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:51.864 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:51.884 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:52.004 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:49:52.165 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_42.raw" at altitude: Some(3.5061517482892137)
11:49:52.165 WARN  [robot_code/peripherals/payload/src/coverage_tracker.rs:55] Sensor data is out of range
11:49:52.325 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:52.967 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:53.328 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:53.409 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:49:53.830 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:53.910 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:53.930 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:54.331 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:54.452 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:49:54.873 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:49:55.334 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:49:55.936 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:55.957 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:56.257 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_43.raw" at altitude: Some(2.9650840388232833)
11:49:56.337 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:57.039 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:49:57.340 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:49:57.962 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:49:57.983 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:49:58.343 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:49:59.026 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_45.raw" at altitude: Some(3.45467806024392)
11:49:59.346 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:49:59.989 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:00.009 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:00.349 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:00.631 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:50:00.942 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:50:01.352 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:02.035 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:02.055 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:02.356 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:03.359 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:04.061 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:04.081 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:04.362 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:05.084 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:50:05.365 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:50:05.846 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:50:06.097 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:06.107 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:06.368 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:07.370 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:50:08.113 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:08.133 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:08.373 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:09.317 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:50:09.377 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:09.598 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_46.raw" at altitude: Some(3.0578408074567727)
11:50:10.168 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:10.179 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:10.380 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:11.383 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:11.925 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_48.raw" at altitude: Some(3.0150127154356032)
11:50:12.185 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:12.206 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:12.386 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:12.386 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:50:13.389 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:50:14.212 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:14.212 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_49.raw" at altitude: Some(2.787352963473782)
11:50:14.232 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:14.392 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:14.974 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:50:15.395 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:16.238 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:16.258 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:16.398 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:16.600 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_50.raw" at altitude: Some(2.9642861704196592)
11:50:17.401 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:18.284 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:18.305 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:18.405 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:18.445 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:50:19.408 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:19.991 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:50:20.318 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:20.339 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:20.418 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.47Hz
11:50:20.983 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_53.raw" at altitude: Some(2.9583651137015203)
11:50:21.424 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.74Hz
11:50:22.348 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:22.368 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:22.428 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
11:50:23.431 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:50:23.729 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_56.raw" at altitude: Some(3.0055701780759145)
11:50:24.374 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:24.395 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:24.434 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:50:25.437 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:26.341 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_59.raw" at altitude: Some(2.9762987943468615)
11:50:26.421 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:26.441 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:26.441 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:26.662 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
11:50:27.444 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:28.447 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:28.464 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:28.467 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:29.450 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:29.510 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_60.raw" at altitude: Some(3.00632179494488)
11:50:30.453 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:30.473 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:30.473 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:31.456 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:31.797 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_61.raw" at altitude: Some(3.0322137022983786)
11:50:32.459 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:32.499 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:32.519 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:33.462 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:33.864 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_62.raw" at altitude: Some(3.0653869429433853)
11:50:34.465 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:34.546 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:34.566 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:35.468 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:35.870 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_63.raw" at altitude: Some(3.031046578541172)
11:50:36.472 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:50:36.572 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:36.592 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:37.474 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:37.938 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_64.raw" at altitude: Some(2.9911152800637253)
11:50:38.479 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
11:50:38.600 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:38.620 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:39.482 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:39.583 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:50:40.227 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_65.raw" at altitude: Some(2.9955113473632475)
11:50:40.486 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:40.626 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:40.646 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:41.491 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.73Hz
11:50:42.013 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:50:42.494 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:42.675 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:42.675 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:50:42.695 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:43.497 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:50:44.019 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_68.raw" at altitude: Some(3.0572937270399927)
11:50:44.500 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:44.701 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:44.721 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:45.503 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:46.506 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:46.687 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_71.raw" at altitude: Some(3.0031737432566423)
11:50:46.744 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:46.747 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:47.509 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:48.512 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:48.753 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:48.773 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:49.275 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_74.raw" at altitude: Some(3.0647101502653693)
11:50:49.515 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:50.237 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:50:50.518 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:50:50.810 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:50.819 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:51.521 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:50:52.223 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:50:52.524 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:52.705 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_76.raw" at altitude: Some(2.940520990008786)
11:50:52.825 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:52.845 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:53.327 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:50:53.527 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:54.470 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:50:54.530 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:50:54.852 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:54.872 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:54.972 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_77.raw" at altitude: Some(2.939422277940251)
11:50:55.533 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:56.536 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:50:56.879 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:56.899 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:57.040 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_79.raw" at altitude: Some(3.0136731552477642)
11:50:57.541 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
11:50:58.544 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:50:58.926 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:50:58.946 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:50:59.548 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
11:50:59.689 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_82.raw" at altitude: Some(3.047030101791153)
11:50:59.929 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:51:00.551 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:51:00.953 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:51:00.982 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:51:01.133 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:51:01.554 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:51:01.776 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_83.raw" at altitude: Some(3.0575597265152847)
11:51:02.337 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:51:02.558 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:51:02.939 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:51:02.979 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:51:02.999 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:51:03.561 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:51:04.544 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:51:04.564 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:51:04.665 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_85.raw" at altitude: Some(3.102176066244863)
11:51:04.745 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:51:05.006 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:51:05.026 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:51:05.567 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:51:06.570 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:51:07.031 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:106] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2beb6ba6-10_0_x_10_0_m_Inspection/photos/mocked_image_87.raw" at altitude: Some(2.9552138518795212)
11:51:07.051 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:51:07.071 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:51:07.573 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:51:08.576 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:51:09.077 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
11:51:09.098 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:51:09.098 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
11:51:09.118 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished)
11:51:09.118 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:526] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true })
11:51:09.138 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114614081804 0.07626790205380046,0.908413030459178 0.07626790205380046,0.908413030459178 0.07627045023451046,0.9084114614081804 0.07627045023451046,0.9084114614081804 0.07626790205380046)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: PositionCamera, lateral_overlap: 0.5, sensor_range: 3.2 m^1, desired_altitude: 3.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.4191019832426837, mounting_position: [[0.0, 0.0, 0.0]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: true }))
11:51:09.138 WARN  [robot_code/peripherals/payload/src/lib.rs:128] Payload session was dropped without being stopped, stopping it now
11:51:09.167 WARN  [robot_code/peripherals/payload/src/position_camera.rs:229] Payload request channel disconnected, stopping camera trigger.
11:51:09.167 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
11:51:09.167 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
11:51:09.167 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
11:51:09.167 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Started)
11:51:09.167 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:176] Camera trigger responder stopped: RecvError
11:51:09.167 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:434] Discarded 0 path planner updates before receiving the expected update
11:51:09.167 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:271] Waiting for active task with spawned in Hold task 'waiting, hold position'
11:51:09.167 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'waiting, hold position', id: 5dae470a-ffc9-4bbb-97d9-f46500f0696e)"), mode: None }
11:51:09.167 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:180] Stopped mocked camera recording.
11:51:09.167 ERROR [robot_code/utilities/common/src/utils/stop_running_flag.rs:105] StopRunningFlag { name: "mocked_camera_loop", id: 1, stop_running: false, do_auto_stop: true } got dropped, stopping associated threads...
11:51:09.167 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:93] Stopping StopRunningFlag { name: "mocked_camera_loop", id: 1, stop_running: false, do_auto_stop: true }...
11:51:09.178 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1576697526545496 m^1. Interpolating depth and velocity.
11:51:09.178 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Current, target_velocity: 0.5 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }], [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(0.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }]
11:51:09.178 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Preparing { lower_time_estimate: 5.7783067599705715 s^1, upper_time_estimate: 38.66746013995586 s^1 })
11:51:09.178 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })
11:51:09.198 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Preparing { lower_time_estimate: 5.7783067599705715 s^1, upper_time_estimate: 38.66746013995586 s^1 } for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
11:51:09.218 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
11:51:09.218 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })
11:51:09.238 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
11:51:09.579 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:51:10.582 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:51:11.264 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
11:51:11.284 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
11:51:11.585 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:51:12.588 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:51:13.190 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.3039757389217437 m^1. Interpolating depth and velocity.
11:51:13.290 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
11:51:13.310 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
11:51:13.591 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:51:14.243 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.19938235419585926, Enable control depth: 0.2, Depth control enabled: true
11:51:14.243 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
11:51:14.594 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:51:14.694 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Finished)
11:51:14.694 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Finished for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
11:51:14.694 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:526] Completed goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })
11:51:14.714 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started)
11:51:14.734 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Started for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:51:14.734 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 5.263479311783675 m^1, east: -2.7021467922629543 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }], [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 5.263479311783675 m^1, east: -2.7021467922629543 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }]
11:51:14.734 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })
11:51:14.734 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Preparing { lower_time_estimate: 300.9510048146351 s^1, upper_time_estimate: 331.42650722195265 s^1 })
11:51:14.754 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Preparing { lower_time_estimate: 300.9510048146351 s^1, upper_time_estimate: 331.42650722195265 s^1 } for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:51:15.376 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
11:51:15.376 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })
11:51:15.396 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:51:15.597 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:51:16.600 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:51:17.202 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.3247008568563947 m^1. Interpolating depth and velocity.
11:51:17.282 INFO  [robot_code/utilities/simulator/src/simulator.rs:330] Simulator dropped: Simulator()
11:51:17.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
11:51:17.295 INFO  [robot_code/robot_core/launch/src/lib.rs:540] Joined thread 'control'
11:51:17.295 INFO  [robot_code/robot_core/launch/src/lib.rs:536] Trying to join thread 'simulated_sonar'
11:51:17.362 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'sonar_manager' stopped
11:51:17.562 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
11:51:17.989 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
11:51:18.234 INFO  [robot_code/peripherals/communication/src/lib.rs:198] Shutting down gRPC server
11:51:18.245 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulated_sonar' stopped
11:51:18.246 INFO  [robot_code/robot_core/launch/src/lib.rs:540] Joined thread 'simulated_sonar'
11:51:18.246 INFO  [robot_code/robot_core/launch/src/lib.rs:536] Trying to join thread 'sonar_manager'
11:51:18.246 INFO  [robot_code/robot_core/launch/src/lib.rs:540] Joined thread 'sonar_manager'
11:51:18.246 INFO  [robot_code/robot_core/launch/src/lib.rs:536] Trying to join thread 'simulator'
11:51:19.166 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
11:51:19.166 INFO  [robot_code/robot_core/launch/src/lib.rs:540] Joined thread 'simulator'
11:51:19.167 INFO  [robot_code/robot_core/launch/src/lib.rs:536] Trying to join thread 'path_planner'
11:51:28.001 WARN  [robot_code/robot_core/launch/src/lib.rs:521] Not stopped after 10 seconds, aborting program
11:52:09.916 INFO  [robot_code/utilities/logging/src/logging.rs:93] ================================================================================
11:52:09.916 INFO  [robot_code/utilities/logging/src/logging.rs:94] Starting new Rust log session at 2025-10-29 11:52:09.916234162 +01:00
11:52:09.916 INFO  [robot_code/utilities/logging/src/logging.rs:95] ================================================================================
11:52:09.916 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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_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/2025-10-29_simulated_scout/2025-10-29_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
11:52:09.916 INFO  [robot_code/utilities/logging/src/logger_manager.rs:93] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-10-29_simulated_scout/2025-10-29_11-52-09_simulated_scout.lobsterlog")
11:52:09.918 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logging/high_frequency
11:52:09.919 INFO  [robot_code/robot_core/launch/src/lib.rs:138] 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_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] }, "DD80_S3_tailcone": ThrusterModel { currents: [-20.0, -18.0, -16.0, -14.0, -12.0, -10.0, -8.0, -6.0, -4.0, -2.0, -0.3, 0.3, 2.0, 4.0, 6.0, 8.0, 10.0, 12.0, 14.0, 16.0, 18.0, 20.0], thrusts: [-36.15, -31.34, -26.1, -22.34, -17.71, -13.05, -7.8, -4.95, -2.77, -0.73, -0.01, 0.01, 0.73, 2.77, 4.95, 7.8, 13.05, 17.71, 22.34, 26.1, 31.34, 36.15] }}, thrusters: [ThrusterSettings { current_reversed: false, index: 7, model: "T500_S3_tailcone_basic_SLS_prop", name: "main_forwards", position: None, thruster_direction: [1.0, 0.0, 0.0], rpm_controlled: false }, ThrusterSettings { current_reversed: false, index: 6, model: "DD80_S3_tailcone_RPM", name: "rear_sidewards", position: None, thruster_direction: [0.0, 1.0, 0.0], rpm_controlled: true }, ThrusterSettings { current_reversed: true, index: 4, model: "DD50_S3_tailcone_RPM", name: "rear_right_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }, ThrusterSettings { current_reversed: false, index: 5, model: "DD50_S3_tailcone_RPM", name: "rear_left_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }, ThrusterSettings { current_reversed: false, index: 1, model: "DD80_S3_tailcone_RPM", name: "front_sidewards", position: None, thruster_direction: [0.0, 1.0, 0.0], rpm_controlled: true }, ThrusterSettings { current_reversed: false, index: 2, model: "DD50_S3_tailcone_RPM", name: "front_right_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }, ThrusterSettings { current_reversed: true, index: 3, model: "DD50_S3_tailcone_RPM", name: "front_left_upwards", position: None, thruster_direction: [0.0, 0.0, 1.0], rpm_controlled: true }] }, camera: CameraSettings { exposure_control_settings_list: [ExposureControl { exposure_target: 0.3, exposure_target_quantile: 0.3, gain_margin: 3.0, gain_target: 5.0, name: "default" }, ExposureControl { exposure_target: 0.4, exposure_target_quantile: 0.95, gain_margin: 3.0, gain_target: 5.0, name: "highlights" }], lights: Some(Lights { downstream_overheating_threshold: 60.0, temperature_pairs: {"nosecone": TemperaturePair { downstream_id: 214543499198464, upstream_id: 218469099307008 }, "tailcone": TemperaturePair { downstream_id: 164593029545984, upstream_id: 144801820246016 }}, upstream_overheating_threshold: 40.0 }), use_mocked: true, use_hardware_triggers: true, vertical_fov_degrees: 51.4, live_stitching: 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({"gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_rear_location": [0.9707, 0.0, 0.0066]}), 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: true, 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: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, visualize_beams: true }, 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: 20.0, max_force: 60.0, max_pitch_deg: 20.0, max_roll_deg: 20.0, max_dive_velocity: 0.1, min_altitude: 0.5, 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 } }
11:52:09.993 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_rear_location": [0.9707, 0.0, 0.0066]})
11:52:09.993 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some([[0.32814878999999997, -0.00123998, 0.01605702]]) volume: 0.053
11:52:09.994 INFO  [robot_code/utilities/simulator/src/simulator.rs:89] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Mesh, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 90.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 15.0, visualize_beams: true }, 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 } }
11:52:10.129 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_rear_location": [0.9707, 0.0, 0.0066]})
11:52:10.129 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
11:52:54.444 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_rear_location": [0.9707, 0.0, 0.0066]})
11:52:54.444 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
11:52:54.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
11:52:54.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
11:52:54.445 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
11:52:54.445 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
11:52:54.445 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
11:52:54.445 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
11:52:54.445 WARN  [robot_code/robot_core/launch/src/lib.rs:553] IMU not enabled
11:52:54.445 WARN  [robot_code/robot_core/launch/src/lib.rs:571] Magnetometer not enabled
11:52:54.445 WARN  [robot_code/robot_core/launch/src/lib.rs:184] Magnetometer not enabled, state estimation will not be able to use it
11:52:54.445 WARN  [robot_code/robot_core/launch/src/lib.rs:627] Nortek DVL not enabled
11:52:54.445 WARN  [robot_code/robot_core/launch/src/lib.rs:606] GPS not enabled
11:52:54.445 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
11:52:54.445 DEBUG [robot_code/peripherals/actuation/src/lib.rs:231] Started simulated thruster module
11:52:54.445 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
11:52:54.446 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
11:52:54.446 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
11:52:54.446 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
11:52:54.446 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
11:52:54.446 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
11:52:54.446 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
11:52:54.446 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
11:52:54.446 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
11:52:54.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
11:52:54.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
11:52:54.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
11:52:54.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
11:52:54.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
11:52:54.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
11:52:54.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
11:52:54.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
11:52:54.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
11:52:54.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
11:52:54.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
11:52:54.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
11:52:54.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
11:52:54.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
11:52:54.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
11:52:54.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
11:52:54.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
11:52:54.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
11:52:54.449 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_location": [0.93573, 0.00255, -0.17048], "imu_location": [1.22915, -0.07144, -0.03025], "ps_location": [1.28577, 0.0, 0.06725], "camera_front_location": [1.1187, 0.0, 0.0066], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "camera_rear_location": [0.9707, 0.0, 0.0066]})
11:52:54.449 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
11:52:54.449 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
11:52:54.449 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 }
11:52:54.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
11:52:54.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 192845
11:52:54.449 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Control starting...
11:52:54.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_range_image
11:52:54.449 INFO  [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0
11:52:54.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_intensity_image
11:52:54.464 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulated_sonar
11:52:54.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulated_sonar' with StopRunningFlag { name: "simulated_sonar", id: 0, stop_running: false, do_auto_stop: true }
11:52:54.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulated_sonar' successfully started
11:52:54.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulated_sonar with pid: 192848
11:52:54.464 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_manager
11:52:54.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'sonar_manager' with StopRunningFlag { name: "sonar_manager", id: 0, stop_running: false, do_auto_stop: true }
11:52:54.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'sonar_manager' successfully started
11:52:54.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
11:52:54.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread sonar_manager with pid: 192849
11:52:54.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
11:52:54.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
11:52:54.469 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
11:52:54.469 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 }
11:52:54.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
11:52:54.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 192853
11:52:54.499 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
11:52:54.551 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
11:52:54.551 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop
11:52:54.551 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 }
11:52:54.552 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
11:52:54.552 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
11:52:54.552 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_payload
11:52:54.552 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 192855
11:52:54.552 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: payload_sessions
11:52:54.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
11:52:54.572 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
11:52:54.572 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 }
11:52:54.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
11:52:54.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 192863
11:52:54.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
11:52:54.573 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/active_tasks
11:52:54.574 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
11:52:54.574 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 }
11:52:54.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
11:52:54.574 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
11:52:54.574 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
11:52:54.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 192914
11:52:54.574 INFO  [robot_code/peripherals/communication/src/lib.rs:102] grpc listening on 0.0.0.0:10820
11:52:54.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
11:52:54.574 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
11:52:54.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
11:52:54.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
11:52:54.574 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
11:52:54.574 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 }
11:52:54.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
11:52:54.574 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
11:52:54.574 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 }
11:52:54.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 192919
11:52:54.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
11:52:54.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 192920
11:52:54.574 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
11:52:54.574 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 }
11:52:54.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
11:52:54.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 192921
11:52:54.592 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
11:52:54.592 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
11:52:54.592 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for hardware_checks
11:52:54.594 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
11:52:54.594 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
11:52:54.594 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_service
11:52:54.594 INFO  [robot_code/peripherals/communication/src/sonar_service.rs:54] Creating sonar service
11:52:54.594 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.
11:52:54.594 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
11:52:54.594 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 }
11:52:54.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
11:52:54.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 192925
11:52:54.595 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
11:52:54.595 INFO  [robot_code/robot_core/launch/src/lib.rs:526] Waiting until code stops running so threads can be joined
11:52:54.595 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:128] Started watching interfaces
11:52:54.595 INFO  [robot_code/robot_core/launch/src/lib.rs:536] Trying to join thread 'control'
11:52:54.595 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"]
11:52:54.619 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
11:52:54.632 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
11:52:54.632 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
11:52:54.748 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {"sensors": Object {"magnetometer": Object {"magA": Array [Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0), Number(0.0), Number(0.0), Number(0.0), Number(1.0)], "magB": Array [Number(0.0), Number(1.0), Number(0.0)]}}}
11:52:54.749 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'device_settings'. Description: Dynamic device specific settings. During runtime, these settings can be changed either by the user or by the robot itself.
11:52:54.749 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
11:52:54.750 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {}
11:52:54.750 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'default'. Description: 
11:52:54.752 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
11:52:54.753 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
11:52:54.920 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "stream_state", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
11:52:55.494 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 46.75Hz
11:52:56.497 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:52:56.633 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "get_task_queue", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
11:52:57.501 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
11:52:58.504 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:52:59.508 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
11:53:00.511 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:01.515 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:53:02.518 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:03.522 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:53:04.525 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:05.528 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:06.531 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:53:07.533 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:53:08.537 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:09.540 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:53:10.543 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:53:11.547 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:53:12.550 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:13.552 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:53:14.556 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:15.559 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:16.562 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:17.565 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:18.569 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
11:53:19.572 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:53:20.575 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:21.578 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:53:22.581 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:23.584 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:24.567 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
11:53:24.567 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: '10.0 x 10.0 Inspection')
11:53:24.587 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:25.590 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:25.751 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
11:53:25.751 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
11:53:25.751 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:577] Starting a Upright task 'Upright task'
11:53:25.771 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
11:53:25.771 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [DirectControl(ControlGoalWithMeta { id: a35fdb77-d25f-4cff-9e5d-ff04e4126f9e, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
11:53:25.771 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: a35fdb77-d25f-4cff-9e5d-ff04e4126f9e, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
11:53:25.781 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: a35fdb77-d25f-4cff-9e5d-ff04e4126f9e, start_time: Some(31.14 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started)
11:53:25.781 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:434] Discarded 0 path planner updates before receiving the expected update
11:53:25.781 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Upright, name: 'Upright task', id: 10d973ea-f880-4212-aa94-2925fb69312a)"), mode: None }
11:53:25.802 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.09849364450544118, Enable control depth: 0.2, Depth control enabled: true
11:53:25.802 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: a35fdb77-d25f-4cff-9e5d-ff04e4126f9e, start_time: Some(31.14 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished)
11:53:25.802 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
11:53:25.802 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
11:53:25.802 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09849364450544118 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
11:53:25.811 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: a35fdb77-d25f-4cff-9e5d-ff04e4126f9e, start_time: Some(31.14 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })
11:53:25.811 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:577] Starting a SurveyArea task '10.0 x 10.0 Inspection'
11:53:25.821 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
11:53:25.821 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
11:53:25.882 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))]
11:53:25.882 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))]
11:53:25.882 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Started)
11:53:25.882 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:434] Discarded 0 path planner updates before receiving the expected update
11:53:25.882 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: '10.0 x 10.0 Inspection', id: e86f679e-cba9-4df8-8c30-ee300af0e044)"), mode: None }
11:53:25.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: sonar_range_image
11:53:25.894 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for SonarPayloadSession-d352d64e-f6f4-44e9-84f6-d1351f74128f
11:53:25.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'SonarPayloadSession-d352d64e-f6f4-44e9-84f6-d1351f74128f' with StopRunningFlag { name: "SonarPayloadSession-d352d64e-f6f4-44e9-84f6-d1351f74128f", id: 0, stop_running: false, do_auto_stop: false }
11:53:25.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'SonarPayloadSession-d352d64e-f6f4-44e9-84f6-d1351f74128f' successfully started
11:53:25.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread SonarPayloadSession-d352d64e-f6f4-44e9-84f6-d1351f74128f with pid: 193180
11:53:25.902 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.09850471338606001, Enable control depth: 0.2, Depth control enabled: true
11:53:25.902 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1432303179206054 m^1. Interpolating depth and velocity.
11:53:25.902 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
11:53:25.902 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
11:53:25.902 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(1.4289169610375974 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: -5.029100676704385 m^1, east: -3.1071127684248587 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: -5.029100676704385 m^1, east: -3.1071127684248587 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: Some(2.0 m^1), orientation_point: None, hold_duration: None } }], [LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.029100676704385 m^1, east: -3.1071127684248587 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 5.162627646993659 m^1, east: -3.1071127684248587 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 2.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: None } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.162627646993659 m^1, east: -1.1127397884248589 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -5.029100676704385 m^1, east: -1.1127397884248589 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 2.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: None } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.029100676704385 m^1, east: 0.881633191575141 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 5.162627646993659 m^1, east: 0.881633191575141 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 2.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: None } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 5.162627646993659 m^1, east: 2.876006171575141 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -5.029100676704385 m^1, east: 2.876006171575141 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 2.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: None } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -5.029100676704385 m^1, east: 4.870379151575141 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 5.162627676795982 m^1, east: 4.870379151575141 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, altitude: 2.0 m^1, velocity: 0.5 m^1 s^-1, forced_heading: None } }]
11:53:25.902 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Preparing { lower_time_estimate: 108.65354894837836 s^1, upper_time_estimate: 342.98032342256755 s^1 })
11:53:25.902 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09850471338606001 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
11:53:25.902 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })
11:53:25.912 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Preparing { lower_time_estimate: 108.65354894837836 s^1, upper_time_estimate: 342.98032342256755 s^1 } for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:53:26.593 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:26.724 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:426] Details: Current depth goal: 0.2046946937557328, Enable control depth: 0.2, Depth control enabled: false
11:53:26.724 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:159] Enabling depth control and reset z-velocity PID controller
11:53:27.597 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:28.259 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:197] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
11:53:28.600 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:29.604 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
11:53:29.905 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1477131732497172 m^1. Interpolating depth and velocity.
11:53:30.607 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:31.610 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:32.613 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:33.616 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:33.918 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.1398685291293686 m^1. Interpolating depth and velocity.
11:53:34.620 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:53:35.623 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:53:36.626 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:37.629 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:37.930 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.8691984907600312 m^1. Interpolating depth and velocity.
11:53:38.632 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:39.636 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:40.639 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:53:41.642 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:41.943 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 0.8719739590436344 m^1. Interpolating depth and velocity.
11:53:42.645 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:43.648 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:44.651 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:45.333 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:53:45.333 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })
11:53:45.353 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:53:45.654 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:46.657 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:47.359 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:53:47.379 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:53:47.660 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:48.663 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:53:49.395 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:53:49.406 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:53:49.667 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:50.670 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:51.412 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:53:51.444 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:53:51.673 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:52.676 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:53:53.459 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:53:53.479 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:53:53.679 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:54.282 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:53:54.682 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:55.485 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:53:55.505 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:53:55.686 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:56.689 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:53:57.511 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:53:57.531 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:53:57.692 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:58.695 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:53:59.538 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:53:59.558 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:53:59.698 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:00.702 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:54:01.589 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:01.609 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:01.712 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.49Hz
11:54:02.730 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.20Hz
11:54:03.634 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:03.654 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:03.715 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:03.734 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.69Hz
11:54:04.737 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:04.778 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:05.360 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:05.660 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:05.681 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:05.740 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:06.022 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:06.643 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:06.744 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:07.386 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:07.687 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:07.707 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:07.747 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:54:07.968 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:08.329 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:08.740 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:08.750 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:09.332 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:09.472 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:09.733 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:09.753 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:09.753 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:10.034 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:10.335 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:10.756 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:11.138 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:11.198 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:11.759 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:11.759 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:11.780 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:12.341 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:12.762 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:12.963 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:13.765 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:13.786 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:13.786 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:13.806 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:13.906 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:14.768 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:14.789 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:15.772 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:54:15.812 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:15.844 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:16.755 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:16.775 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:17.357 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:17.778 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:17.859 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:17.879 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:18.781 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:19.163 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:19.664 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:19.784 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:19.885 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:19.916 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:20.788 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:21.270 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:21.591 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:21.791 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:21.912 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:21.932 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:22.674 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:22.794 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:23.517 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:23.797 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:23.938 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:23.958 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:24.800 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:24.821 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:25.222 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:25.803 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:25.984 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:26.004 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:26.806 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:27.809 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:28.011 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:28.030 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:28.813 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
11:54:29.816 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:30.037 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:30.057 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:30.739 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
11:54:30.819 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:31.822 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:32.063 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:32.083 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:32.825 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:33.828 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:34.110 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:34.130 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:34.831 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:35.834 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:36.136 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:36.156 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:36.837 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:37.840 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:38.162 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:38.196 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:38.844 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:54:39.847 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:40.188 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:40.208 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:40.850 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:41.352 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:41.853 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:42.234 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:42.255 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:42.856 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:43.158 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:43.458 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:43.859 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:44.261 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:44.281 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:44.863 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
11:54:45.866 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:46.288 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:46.308 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:46.870 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:47.873 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:48.306 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:48.315 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:48.335 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:48.876 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:49.378 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:49.398 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:49.879 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:54:50.360 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:50.361 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:50.461 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:50.481 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:50.882 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:54:51.805 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:51.885 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:51.925 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:52.386 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:52.407 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:52.888 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:53.209 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:53.831 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:53.891 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:54.413 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:54.433 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:54.894 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:55.897 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:55.897 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:55.937 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:56.439 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:56.469 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:56.900 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:54:57.141 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:57.382 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:57.903 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:58.486 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:54:58.506 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:54:58.907 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:54:58.987 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:54:59.128 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:54:59.910 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:55:00.512 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:00.541 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:00.913 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:01.234 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:01.295 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:01.916 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:02.398 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:02.538 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:02.558 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:02.699 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:02.920 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:55:03.922 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:55:04.304 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:04.404 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:04.544 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:04.564 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:04.925 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:05.427 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:05.447 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:05.928 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:06.581 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:06.591 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:06.931 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:07.934 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:08.115 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:08.617 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:08.637 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:08.937 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:09.078 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:09.941 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:10.643 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:10.675 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:10.723 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:10.944 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:11.225 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:11.366 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:11.947 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:12.629 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:12.669 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:12.690 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:12.950 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:13.953 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:14.234 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:14.695 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:14.715 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:14.956 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
11:55:15.277 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:15.959 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:16.742 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:16.762 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:16.962 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:17.444 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:17.965 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:18.447 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:18.768 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:18.788 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:18.848 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:18.868 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:18.968 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:19.751 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:19.811 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:19.972 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:20.654 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:20.694 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:20.794 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:20.814 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:20.975 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:21.697 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:21.978 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:22.159 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:22.821 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:22.841 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:22.861 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:22.981 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:23.102 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:23.302 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:23.683 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:23.984 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:24.285 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:24.867 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:24.887 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:24.887 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:24.987 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:25.280 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:25.990 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:26.472 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:26.893 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:26.913 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:26.993 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:27.996 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:28.237 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:28.932 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:28.940 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:29.000 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:55:30.003 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:30.946 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:30.966 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:31.006 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:31.608 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:32.009 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:32.992 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:33.012 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:33.021 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:33.021 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:34.015 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:34.104 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:34.396 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:35.018 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:35.018 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:35.038 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:36.021 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:36.223 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:36.363 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:37.025 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:55:37.045 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:37.065 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:38.028 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:39.035 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.65Hz
11:55:39.075 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:39.096 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:39.838 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:40.038 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:40.422 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:41.042 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
11:55:41.123 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:41.143 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:41.636 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:41.966 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:42.046 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:55:43.050 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
11:55:43.151 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:43.171 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:44.061 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.47Hz
11:55:44.262 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
11:55:45.064 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:45.185 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:45.205 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:46.067 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:55:47.070 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:47.221 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:47.231 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:48.073 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:49.076 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:49.257 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:49.278 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:50.080 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:51.083 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:51.284 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:51.315 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:52.086 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:55:53.089 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:53.310 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:53.330 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:54.092 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:54.875 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:55.095 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:55.337 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:55.357 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:56.099 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:57.102 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
11:55:57.384 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:57.384 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:55:57.906 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:55:58.106 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
11:55:59.109 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:55:59.190 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:55:59.411 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:55:59.431 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:00.114 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
11:56:01.118 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:56:01.439 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:01.459 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:02.006 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:02.129 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.46Hz
11:56:02.459 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:03.139 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 48.48Hz
11:56:03.513 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:03.513 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:03.533 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:04.149 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 48.53Hz
11:56:04.639 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:05.170 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 48.96Hz
11:56:05.599 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:05.619 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:06.186 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.23Hz
11:56:06.914 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:07.195 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.57Hz
11:56:07.637 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:07.656 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:07.717 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:08.198 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:56:09.201 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:09.678 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:09.683 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:10.204 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:11.207 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:11.689 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:11.709 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:12.210 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:56:13.077 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:13.217 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.65Hz
11:56:13.439 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:13.740 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:13.774 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:14.221 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:14.663 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:15.224 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:56:15.766 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:15.786 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:16.227 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:17.231 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:17.452 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:17.793 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:17.813 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:18.234 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:18.655 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:19.157 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:19.237 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:19.498 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:19.790 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:19.819 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:19.839 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:20.240 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:20.562 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:21.203 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:21.243 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:56:21.565 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:21.865 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:21.885 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:22.166 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:22.206 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:22.246 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:56:23.249 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:23.330 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:23.631 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:23.892 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:23.912 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:24.213 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:24.253 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:24.895 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:25.256 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:56:25.818 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:25.919 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:25.939 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:25.939 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:25.999 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:26.259 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:27.222 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:27.262 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:56:27.955 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:27.965 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:28.005 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:28.265 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:56:28.326 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:28.446 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:28.908 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:29.269 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:56:29.991 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:30.011 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:30.252 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:30.272 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:56:30.392 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:31.275 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:31.295 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:31.356 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:32.017 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:32.047 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:32.278 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:56:32.439 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:32.699 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:33.281 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:33.562 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:33.663 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:34.044 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:34.064 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:34.284 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:34.626 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:35.027 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:35.287 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:56:35.810 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:35.919 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:36.071 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:36.090 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:36.291 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:56:36.953 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:37.294 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:37.538 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:37.919 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:38.120 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:38.140 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:38.300 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.70Hz
11:56:38.381 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:38.561 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:39.264 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:39.304 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:56:39.324 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:40.147 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:40.167 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:40.307 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:41.310 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:56:42.173 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:42.193 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:42.313 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:56:42.675 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:43.316 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:43.658 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:44.199 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:44.219 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:44.320 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:44.950 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:56:45.323 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:46.246 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:46.266 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:46.326 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:56:46.788 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:47.329 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:47.871 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
11:56:48.273 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:48.293 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:48.332 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:49.336 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:50.308 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:50.319 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:50.339 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:56:51.342 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:52.325 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:52.345 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:52.345 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:53.348 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:54.351 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:54.372 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:54.406 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:55.355 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:56.358 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:56:56.398 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:56.418 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:57.361 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:56:58.364 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:56:58.425 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:56:58.445 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:56:58.545 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:56:59.367 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:00.370 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:00.451 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:00.471 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:01.374 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:02.377 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:02.497 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:02.517 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:02.598 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:57:03.380 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:03.521 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:57:04.042 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:57:04.383 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:04.524 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:04.544 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:05.386 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:06.389 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:06.550 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:06.570 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:07.392 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:08.395 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:08.591 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:08.596 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:09.238 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:57:09.399 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:09.560 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:57:10.402 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:10.623 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:10.643 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:11.405 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:57:12.409 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:12.650 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:12.650 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:13.412 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:13.674 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:57:13.734 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:57:14.423 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.43Hz
11:57:14.687 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:14.705 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:15.429 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.73Hz
11:57:16.433 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:57:16.714 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:16.734 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:17.436 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:17.857 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:57:17.898 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:57:18.439 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:18.760 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:18.781 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:19.442 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:20.446 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:57:20.787 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:20.807 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:21.449 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:22.372 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:57:22.405 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:57:22.452 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:22.813 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:22.833 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:23.455 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:24.458 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:24.840 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:24.860 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:25.462 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:57:26.466 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
11:57:26.526 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:57:26.586 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:57:26.887 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:26.917 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:27.469 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:28.472 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:28.913 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:28.933 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:29.475 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:30.478 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:30.699 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:57:30.799 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:57:30.940 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:30.960 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:31.481 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:32.485 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:57:32.966 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:32.986 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:33.488 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:34.491 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:35.013 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:35.033 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:35.113 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:57:35.133 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:57:35.494 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:36.497 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:37.039 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:37.059 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:37.500 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:38.503 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:39.065 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:39.085 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:39.366 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:57:39.447 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:57:39.506 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:40.510 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:41.092 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:41.112 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:41.513 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:42.516 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:43.138 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:43.158 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:43.519 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:43.881 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:57:43.901 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:57:44.522 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:44.543 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:57:45.064 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:57:45.175 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:45.185 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:45.525 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:46.529 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:47.191 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:47.211 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:47.532 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:57:48.535 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:57:48.616 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:57:49.218 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:49.238 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:49.298 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:57:49.538 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:50.541 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:51.264 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:51.284 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:51.545 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:52.548 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:53.290 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:53.310 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:53.551 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:54.554 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:54.628 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:57:54.675 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:57:55.196 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:57:55.317 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:55.337 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:55.557 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:57:56.560 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:57.343 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:57.363 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:57.564 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:57:58.547 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:57:58.567 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:57:59.390 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:57:59.410 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:57:59.570 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:00.573 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:01.095 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:58:01.416 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:01.436 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:01.576 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:02.579 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:03.442 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:03.462 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:03.583 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:04.325 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:58:04.586 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:58:05.470 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:05.490 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:05.590 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
11:58:05.731 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:58:06.593 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:07.516 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:07.548 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:07.596 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:08.599 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:09.542 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:09.563 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:09.602 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:58:10.606 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:11.569 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:11.589 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:11.609 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:11.930 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:58:12.612 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:12.681 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:58:13.595 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:13.615 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:58:13.615 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:14.618 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:15.621 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:15.642 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:15.662 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:16.625 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:16.846 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:58:17.247 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:58:17.628 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:17.668 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:17.688 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:18.631 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:18.752 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
11:58:19.634 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:58:19.695 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:19.715 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:20.637 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:58:21.640 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:21.721 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:21.741 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:22.644 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:23.647 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:23.767 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:23.787 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:24.650 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:25.653 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:25.810 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:25.814 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:26.656 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:58:27.659 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:27.820 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:27.840 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:28.663 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:29.405 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:58:29.666 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:58:29.847 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:29.867 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:30.669 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:31.211 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:58:31.654 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:58:31.673 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
11:58:31.894 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:31.914 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:32.677 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:32.958 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:58:33.219 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:58:33.681 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
11:58:33.922 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:33.942 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:34.684 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:58:35.687 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:35.948 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:35.971 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:36.694 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.65Hz
11:58:37.697 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:58:37.978 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:37.999 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:38.701 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:39.704 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:40.025 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:40.045 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:40.707 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:58:41.710 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:58:42.052 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:42.072 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:42.453 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:58:42.714 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:58:42.790 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:58:43.717 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:58:44.079 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:44.099 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:44.720 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:44.901 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:58:45.724 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:46.105 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:46.125 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:46.145 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:58:46.727 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:47.730 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:48.152 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:48.180 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:48.734 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:58:49.737 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:50.179 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:50.199 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:50.741 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
11:58:51.744 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:58:52.206 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:52.226 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:52.747 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:53.430 WARN  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:190] Robot is off track, pausing line traversal
11:58:53.751 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:53.931 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:94] Robot is on track, resuming line traversal
11:58:54.232 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Executing)
11:58:54.252 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:54.754 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:55.176 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:174] Line navigation complete
11:58:55.196 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })), Finished)
11:58:55.196 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:526] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false })
11:58:55.216 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084114596628518 0.07626792299775186,0.9084130269685183 0.07626792299775186,0.9084130269685183 0.07627047292378929,0.9084114596628518 0.07627047292378929,0.9084114596628518 0.07626792299775186)), payload_info: PayloadInfo { settings: PayloadSettings { payload_type: Sonar, lateral_overlap: 0.5, sensor_range: 2.2 m^1, desired_altitude: 2.0 m^1 }, fixed_params: FixedPayloadParameters { horizontal_fov: 1.5707963267948966, mounting_position: [[0.81690879, -0.00123998, 0.00562702]] } }, velocity: 0.5 m^1 s^-1, lane_direction: None, fixed_heading: false }))
11:58:55.216 WARN  [robot_code/peripherals/payload/src/lib.rs:128] Payload session was dropped without being stopped, stopping it now
11:58:55.216 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
11:58:55.216 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
11:58:55.246 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
11:58:55.246 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
11:58:55.246 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
11:58:55.246 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:144] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'waiting, hold position', id: efaf24c9-4c8c-4716-be6b-b45a95054ee1)"), mode: None }
11:58:55.246 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:434] Discarded 0 path planner updates before receiving the expected update
11:58:55.246 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Started)
11:58:55.246 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:271] Waiting for active task with spawned in Hold task 'waiting, hold position'
11:58:55.257 DEBUG [robot_code/peripherals/payload/src/sonar/sonar_payload.rs:108] Payload request channel disconnected, stopping sonar payload.
11:58:55.257 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "SonarPayloadSession-d352d64e-f6f4-44e9-84f6-d1351f74128f", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
11:58:55.260 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'SonarPayloadSession-d352d64e-f6f4-44e9-84f6-d1351f74128f' stopped
11:58:55.286 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.266863568082698 m^1. Interpolating depth and velocity.
11:58:55.286 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
11:58:55.286 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Current, target_velocity: 0.5 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }], [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(0.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }]
11:58:55.286 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Preparing { lower_time_estimate: 10.854950974873953 s^1, upper_time_estimate: 46.28242646231093 s^1 })
11:58:55.286 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: 5.0994217676336 m^1, east: 4.867893495838068 m^1, down: 2.1709901949747907 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
11:58:55.286 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })
11:58:55.296 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Preparing { lower_time_estimate: 10.854950974873953 s^1, upper_time_estimate: 46.28242646231093 s^1 } for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
11:58:55.316 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
11:58:55.316 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })
11:58:55.336 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
11:58:55.757 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:58:56.761 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:57.343 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
11:58:57.363 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
11:58:57.764 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:58:58.767 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:58:59.289 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.35683443565265 m^1. Interpolating depth and velocity.
11:58:59.389 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
11:58:59.409 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
11:58:59.770 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:59:00.774 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:59:01.424 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
11:59:01.436 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
11:59:01.777 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:59:02.780 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:59:03.302 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.3524234314568995 m^1. Interpolating depth and velocity.
11:59:03.442 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
11:59:03.462 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
11:59:03.783 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:59:04.787 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
11:59:05.309 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.1971273378336118, Enable control depth: 0.2, Depth control enabled: true
11:59:05.309 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
11:59:05.470 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Executing)
11:59:05.490 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
11:59:05.630 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })), Finished)
11:59:05.630 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Finished for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None }))
11:59:05.630 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:526] Completed goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1, altitude: None })
11:59:05.650 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started)
11:59:05.670 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Started for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:59:05.670 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 5.056631834207244 m^1, east: 4.867602713513144 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }], [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 5.056631834207244 m^1, east: 4.867602713513144 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }]
11:59:05.670 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Preparing { lower_time_estimate: 300.9408261504402 s^1, upper_time_estimate: 331.4112392256603 s^1 })
11:59:05.671 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })
11:59:05.690 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Preparing { lower_time_estimate: 300.9408261504402 s^1, upper_time_estimate: 331.4112392256603 s^1 } for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:59:05.790 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:59:06.313 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
11:59:06.313 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })
11:59:06.333 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:59:06.794 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:59:07.316 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.363795676880085 m^1. Interpolating depth and velocity.
11:59:07.797 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:59:08.339 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
11:59:08.359 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:59:08.801 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
11:59:09.805 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:59:10.367 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
11:59:10.387 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:59:10.808 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:59:11.330 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.3633832260240615 m^1. Interpolating depth and velocity.
11:59:11.812 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:59:12.393 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
11:59:12.414 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:59:12.814 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:59:13.818 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
11:59:14.441 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
11:59:14.461 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:59:14.822 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
11:59:15.344 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.372061578851337 m^1. Interpolating depth and velocity.
11:59:15.826 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
11:59:16.469 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
11:59:16.489 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:59:16.830 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
11:59:17.833 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:59:18.495 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
11:59:18.515 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:59:18.836 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:59:19.359 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.3805115110505604 m^1. Interpolating depth and velocity.
11:59:19.840 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
11:59:20.523 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
11:59:20.543 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:59:20.844 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:59:21.847 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:59:22.569 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
11:59:22.569 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:59:22.850 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:59:23.372 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.3853829800651676 m^1. Interpolating depth and velocity.
11:59:23.853 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
11:59:24.595 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
11:59:24.596 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:59:24.856 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:59:25.860 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:59:26.624 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
11:59:26.644 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:59:26.864 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
11:59:27.386 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:190] Unable to meet preferred vertical position constraints: min_preferred_depth: 5.0 m^1, max_preferred_depth: 1.387271279960678 m^1. Interpolating depth and velocity.
11:59:27.868 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
11:59:28.651 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
11:59:28.671 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:508] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
11:59:28.872 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
11:59:29.875 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
11:59:30.357 INFO  [robot_code/utilities/simulator/src/simulator.rs:330] Simulator dropped: Simulator()
11:59:30.366 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
11:59:30.366 INFO  [robot_code/robot_core/launch/src/lib.rs:540] Joined thread 'control'
11:59:30.366 INFO  [robot_code/robot_core/launch/src/lib.rs:536] Trying to join thread 'simulated_sonar'
11:59:30.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'sonar_manager' stopped
11:59:30.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
11:59:30.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
11:59:31.017 INFO  [robot_code/peripherals/communication/src/lib.rs:198] Shutting down gRPC server
11:59:31.246 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulated_sonar' stopped
11:59:31.246 INFO  [robot_code/robot_core/launch/src/lib.rs:540] Joined thread 'simulated_sonar'
11:59:31.246 INFO  [robot_code/robot_core/launch/src/lib.rs:536] Trying to join thread 'sonar_manager'
11:59:31.246 INFO  [robot_code/robot_core/launch/src/lib.rs:540] Joined thread 'sonar_manager'
11:59:31.247 INFO  [robot_code/robot_core/launch/src/lib.rs:536] Trying to join thread 'simulator'
11:59:32.025 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
11:59:32.025 INFO  [robot_code/robot_core/launch/src/lib.rs:540] Joined thread 'simulator'
11:59:32.025 INFO  [robot_code/robot_core/launch/src/lib.rs:536] Trying to join thread 'path_planner'
11:59:40.623 WARN  [robot_code/robot_core/launch/src/lib.rs:521] Not stopped after 10 seconds, aborting program