20:15:33.393 INFO  [robot_code/utilities/logging/src/logging.rs:94] ================================================================================
20:15:33.393 INFO  [robot_code/utilities/logging/src/logging.rs:95] Starting new Rust log session at 2025-11-29 20:15:33.393670737 +01:00
20:15:33.393 INFO  [robot_code/utilities/logging/src/logging.rs:96] ================================================================================
20:15:33.393 DEBUG [robot_code/utilities/logging/src/logging.rs:97] 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_iridium_interface": 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: {} }, "mocked_lora_module": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_task_scheduler": 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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } }, .. }, filters: [ThresholdFilter { level: Trace }] }] }) }
20:15:33.393 INFO  [robot_code/utilities/logging/src/logger_manager.rs:98] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-33_simulated_scout.lobsterlog")
20:15:33.397 DEBUG [robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: logging/high_frequency
20:15:33.400 INFO  [robot_code/robot_core/launch/src/lib.rs:134] 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_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" }], stereo: false, lights: Some(Lights { temperature_sensors: {"tailcone": [144801820246016, 164593029545984], "nosecone": [218469099307008, 214543499198464]}, overheating_threshold: 50.0 }), 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 }, identity: IdentitySettings { name: "simulated_scout", serial_number: None, ip_addresses: [], usbl_id: 0, iridium_serial: 0 }, iridium: IridiumSettings { enabled: false, gateway_addresses: {}, destination: None }, enabled: true, request_server: RequestServer { port: 10820 }, ui_settings_whitelist: ["actuation/max_current_change_per_second", "camera/use_mocked", "communication/world_model_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"], world_model_update_frequency_hz: 20.0 }, 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], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 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, position_threshold_z_crawling: 0.25, turn_off_crawler_line_path_planner: true } }, 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: false }, sonar: Sonar { enabled: true, ip: "192.168.30.104", tilt_degree: 15.0 }, usbl: None }, active_profile: Default, simulator: Some(SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, start_attitude_euler_degrees: [0.0, 0.0, 0.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0], sensor_noises: SensorNoises { noise_scaling_factor: 1.0, std_accelerometer: 0.02, std_gyroscope: 0.002, std_magnetometer: 2.0, std_dvl_velocity: 0.01, std_dvl_beam_distance: 0.1, std_gnss_receiver: 0.5, std_depth: 0.02 } }), state_estimation: StateEstimationSettings { depth_samples_max_timeout_millis: 10000, external_disturbance_heading_valid_time_minutes: 60.0, gnss_samples_use_one_in_n: 8, seafloor_depth_smoothing_factor: 0.3, seafloor_slope_smoothing_factor: 0.1, magnetic_field_strength_deviation: 4.0 }, task_scheduler: TaskSchedulerSettings { preparing_behavior: PreparationModeBehavior { max_number_gps_tasks: 2, max_number_move_to_start_tasks: 3 }, 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 }, sync_communication: SyncCommunicationSettings { min_duration_seconds: 30.0, max_duration_seconds: 90.0, step_duration_seconds: 2.0 }, 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 } }
20:15:33.462 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], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
20:15:33.462 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
20:15:33.463 INFO  [robot_code/utilities/simulator/src/simulator.rs:89] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, start_attitude_euler_degrees: [0.0, 0.0, 0.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0], sensor_noises: SensorNoises { noise_scaling_factor: 1.0, std_accelerometer: 0.02, std_gyroscope: 0.002, std_magnetometer: 2.0, std_dvl_velocity: 0.01, std_dvl_beam_distance: 0.1, std_gnss_receiver: 0.5, std_depth: 0.02 } }
20:15:33.618 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], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
20:15:33.619 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
20:15:34.032 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], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
20:15:34.032 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
20:15:34.032 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: code_launch
20:15:34.033 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: imu
20:15:34.033 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: dvl_bottom_track
20:15:34.033 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: dvl_water_track
20:15:34.033 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: dvl_current_profile
20:15:34.033 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: dvl_depth
20:15:34.033 WARN  [robot_code/robot_core/launch/src/lib.rs:617] IMU not enabled
20:15:34.034 WARN  [robot_code/robot_core/launch/src/lib.rs:635] Magnetometer not enabled
20:15:34.034 WARN  [robot_code/robot_core/launch/src/lib.rs:180] Magnetometer not enabled, state estimation will not be able to use it
20:15:34.034 WARN  [robot_code/robot_core/launch/src/lib.rs:674] Nortek DVL not enabled
20:15:34.034 WARN  [robot_code/robot_core/launch/src/lib.rs:653] GPS not enabled
20:15:34.034 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: thruster_manager
20:15:34.034 DEBUG [robot_code/peripherals/actuation/src/lib.rs:296] Started simulated thruster module
20:15:34.034 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], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
20:15:34.034 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
20:15:34.034 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/main_forwards
20:15:34.034 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/rear_sidewards
20:15:34.034 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/rear_right_upwards
20:15:34.034 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/rear_left_upwards
20:15:34.034 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/front_sidewards
20:15:34.034 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/front_right_upwards
20:15:34.034 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/front_left_upwards
20:15:34.034 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/internal_states
20:15:34.035 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/cascaded_control
20:15:34.035 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_position_settings
20:15:34.035 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_position
20:15:34.035 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_position_settings
20:15:34.035 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_position
20:15:34.035 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_position_settings
20:15:34.035 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_position
20:15:34.036 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_attitude_settings
20:15:34.036 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_attitude
20:15:34.036 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_attitude_settings
20:15:34.036 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_attitude
20:15:34.036 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_attitude_settings
20:15:34.036 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_attitude
20:15:34.036 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_velocity_settings
20:15:34.036 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_velocity
20:15:34.036 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_velocity_settings
20:15:34.036 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_velocity
20:15:34.036 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_velocity_settings
20:15:34.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_velocity
20:15:34.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_angular_velocity_settings
20:15:34.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_angular_velocity
20:15:34.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_angular_velocity_settings
20:15:34.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_angular_velocity
20:15:34.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_angular_velocity_settings
20:15:34.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_angular_velocity
20:15:34.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: virtual_normalized_integral_sensor
20:15:34.037 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], "sonar_location": [1.81926, 0.0, 0.00717], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "gps_location": [0.93573, 0.00255, -0.17048], "magnetometer_location": [1.06914, 0.00188, -0.20086], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "imu_location": [1.22915, -0.07144, -0.03025], "camera_rear_location": [0.9707, 0.0, 0.0066], "dvl_location": [1.3305, 0.0, 0.0176], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0]})
20:15:34.037 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
20:15:34.037 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
20:15:34.037 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 }
20:15:34.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
20:15:34.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 19847
20:15:34.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: sonar_range_image
20:15:34.038 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Control starting...
20:15:34.038 INFO  [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0
20:15:34.039 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: sonar_intensity_image
20:15:34.041 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulated_sonar
20:15:34.041 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 }
20:15:34.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulated_sonar' successfully started
20:15:34.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulated_sonar with pid: 19850
20:15:34.041 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_manager
20:15:34.041 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 }
20:15:34.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'sonar_manager' successfully started
20:15:34.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: kinematic_state
20:15:34.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread sonar_manager with pid: 19851
20:15:34.041 INFO  [robot_code/peripherals/sonar/src/sonar_manager.rs:40] Turning sonar on, because the robot is in the water
20:15:34.042 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: environment_state
20:15:34.043 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: se_debug_stats
20:15:34.048 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
20:15:34.048 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 }
20:15:34.048 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
20:15:34.048 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 19855
20:15:34.078 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: path_planning/meta_info
20:15:34.107 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
20:15:34.107 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop
20:15:34.107 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 }
20:15:34.107 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
20:15:34.107 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
20:15:34.107 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_payload
20:15:34.107 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: payload_sessions
20:15:34.107 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 19857
20:15:34.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: task_scheduler/meta_info
20:15:34.128 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
20:15:34.128 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 }
20:15:34.128 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
20:15:34.128 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 19860
20:15:34.128 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: task_scheduler/executor_actions
20:15:34.128 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: task_scheduler/active_tasks
20:15:34.129 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_interruption_thread
20:15:34.129 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
20:15:34.129 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 }
20:15:34.129 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
20:15:34.129 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 19912
20:15:34.129 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
20:15:34.147 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for request_handling_toolbox
20:15:34.147 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:220] Received request while idle: GetTaskQueue
20:15:34.147 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for system_control_input
20:15:34.150 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)]}}}
20:15:34.150 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.
20:15:34.151 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {}
20:15:34.151 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'default'. Description: 
20:15:34.153 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {"camera": Object {"live_stitching": Null, "use_mocked": Bool(true)}, "communication": Object {"enabled": Bool(false), "identity": Object {"name": String("simulated_scout")}, "iridium": Object {"enabled": Bool(false)}}, "robot": Object {"can_enabled": Bool(false), "logging_name": String("simulated_scout")}, "sensors": Object {"gps": Object {"enabled": Bool(false)}, "imu": Object {"enabled": Bool(false)}, "magnetometer": Object {"enabled": Bool(false)}, "nortek_dvl": Object {"enabled": Bool(false)}, "sonar": Object {"enabled": Bool(true), "tilt_degree": Number(15.0)}, "usbl": Null}, "simulator": Object {"bottom": String("flat"), "enable_user_debug_parameters": Bool(false), "gui": Bool(false), "multi_beam": Object {"fov": Number(120), "n_beams": Number(50), "pos": Array [Number(0.9), Number(0.0), Number(0.0)], "range": Number(15.0), "tilt": Number(20.0), "visualize_beams": Bool(false)}, "origin_latitude": Number(52.048187), "origin_longitude": Number(4.369903), "realtime": Bool(false), "scout_model": String("scout3"), "sea_floor_depth": Number(10.0), "sensor_noises": Object {"noise_scaling_factor": Number(1.0), "std_accelerometer": Number(0.02), "std_depth": Number(0.02), "std_dvl_beam_distance": Number(0.1), "std_dvl_velocity": Number(0.01), "std_gnss_receiver": Number(0.5), "std_gyroscope": Number(0.002), "std_magnetometer": Number(2.0)}, "start_attitude_euler_degrees": Array [Number(0.0), Number(0.0), Number(0.0)], "start_position": Array [Number(0), Number(0), Number(1)], "steps_per_second": Number(50), "water_current": Array [Number(0.0), Number(0.0), Number(0.0)]}}
20:15:34.153 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'simulator'. Description: When using the simulator
20:15:34.155 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for communication
20:15:34.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'communication' with StopRunningFlag { name: "communication", id: 0, stop_running: false, do_auto_stop: true }
20:15:34.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'communication' successfully started
20:15:34.155 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
20:15:34.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread communication with pid: 19914
20:15:34.155 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
20:15:34.155 INFO  [robot_code/robot_core/launch/src/lib.rs:590] Waiting until code stops running so threads can be joined
20:15:34.155 INFO  [robot_code/robot_core/launch/src/lib.rs:600] Trying to join thread 'control'
20:15:34.155 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
20:15:34.155 INFO  [robot_code/peripherals/communication/src/grpc_handlers/mod.rs:91] grpc listening on 0.0.0.0:10820
20:15:34.155 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for telemetry_stream
20:15:34.168 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:220] Received request while idle: GetTaskQueue
20:15:34.168 INFO  [robot_code/peripherals/communication/src/grpc_handlers/sonar_handler.rs:54] Creating sonar service
20:15:34.168 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_service
20:15:34.168 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "request_handling_toolbox", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:15:34.168 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: false }
20:15:34.168 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
20:15:34.168 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 19917
20:15:34.169 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:156] Started watching interfaces
20:15:34.169 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:101] Sending heartbeat simulated_scout:318451712@[] to: ["255.255.255.255:10899", "192.168.30.255:10899"]
20:15:34.170 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: communication/incoming_lora
20:15:34.170 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: communication/outgoing_lora
20:15:34.171 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for core_telemetry_stream
20:15:34.171 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for periodic_telemetry_stream
20:15:34.197 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for core_telemetry_stream
20:15:34.197 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for extended_telemetry_stream
20:15:34.197 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for periodic_telemetry_stream
20:15:34.268 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 32. Duration: 97.36ms. Header: LoraHeader { message_type: Discovery, target_id: 0, sender_id: 318451712, message_id: 0 }
20:15:34.324 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for core_telemetry_stream
20:15:34.325 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for periodic_telemetry_stream
20:15:34.325 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for extended_telemetry_stream
20:15:34.398 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "core_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:15:34.398 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "extended_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:15:34.410 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for periodic_telemetry_stream
20:15:34.410 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for extended_telemetry_stream
20:15:34.410 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for core_telemetry_stream
20:15:34.426 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "core_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:15:34.427 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "extended_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:15:34.511 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "core_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:15:34.511 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "extended_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:15:35.071 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 47.84Hz
20:15:35.198 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "periodic_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:15:35.327 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "periodic_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:15:35.411 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "periodic_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:15:36.075 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:15:36.325 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for core_telemetry_stream
20:15:36.326 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for extended_telemetry_stream
20:15:36.326 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for periodic_telemetry_stream
20:15:37.079 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:15:38.082 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:15:39.085 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:15:39.501 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 45. Duration: 128.4ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:15:39.526 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "core_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:15:39.526 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "extended_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:15:40.089 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
20:15:40.326 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "periodic_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:15:41.093 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:15:42.096 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
20:15:42.543 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for core_telemetry_stream
20:15:42.543 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for periodic_telemetry_stream
20:15:42.543 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for extended_telemetry_stream
20:15:43.099 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:15:44.102 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
20:15:44.700 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 45. Duration: 128.4ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:15:45.106 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
20:15:46.110 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:15:47.114 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:15:48.118 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
20:15:49.122 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:15:50.125 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:15:51.128 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:15:52.131 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:15:53.135 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:15:54.138 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:15:55.141 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
20:15:56.144 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:15:56.505 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: coverage
20:15:56.505 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:220] Received request while idle: AddTask(SurveyArea: '8x8 Inspection')
20:15:57.147 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:15:58.151 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:15:59.054 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:220] Received request while idle: Engage
20:15:59.054 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:137] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
20:15:59.054 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:609] Starting task Task(type: Upright, id: 890149cc-1105-4cb8-8511-6d2c1ad0338f)
20:15:59.074 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
20:15:59.074 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 08e680b1-5f85-42c3-ab70-3ea63344e6a6, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
20:15:59.074 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [DirectControl(ControlGoalWithMeta { id: 08e680b1-5f85-42c3-ab70-3ea63344e6a6, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
20:15:59.084 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 08e680b1-5f85-42c3-ab70-3ea63344e6a6, start_time: Some(24.9 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started)
20:15:59.084 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:459] Discarded 0 path planner updates before receiving the expected update
20:15:59.084 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:137] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Upright, id: 890149cc-1105-4cb8-8511-6d2c1ad0338f)"), mode: None }
20:15:59.114 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.0984966505206204, Enable control depth: 0.2, Depth control enabled: true
20:15:59.114 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 08e680b1-5f85-42c3-ab70-3ea63344e6a6, start_time: Some(24.9 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished)
20:15:59.114 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: 0.0984966505206204 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
20:15:59.114 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
20:15:59.114 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
20:15:59.134 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 08e680b1-5f85-42c3-ab70-3ea63344e6a6, start_time: Some(24.9 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })
20:15:59.134 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:609] Starting task Task(type: SurveyArea, id: 755b7a81-9ca6-446a-83ec-64e89b9f3f67, name: '8x8 Inspection')
20:15:59.154 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:15:59.154 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
20:15:59.154 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
20:15:59.174 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))]
20:15:59.174 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Started)
20:15:59.174 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))]
20:15:59.174 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:459] Discarded 0 path planner updates before receiving the expected update
20:15:59.174 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:137] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, id: 755b7a81-9ca6-446a-83ec-64e89b9f3f67, name: '8x8 Inspection')"), mode: None }
20:15:59.175 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:33] StopRunningFlag created with ID: 1
20:15:59.175 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 1 cloned for mocked_camera_state
20:15:59.224 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:418] Details: Current depth goal: 0.09839401672375037, Enable control depth: 0.2, Depth control enabled: true
20:15:59.225 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
20:15:59.225 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:154] Disabling depth control.
20:15:59.225 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:341] Control Manager has started with goal position: PositionNED { north: -8.767135897176157e-26 m^1, east: -2.136418268731553e-28 m^1, down: 0.09839401672375037 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
20:15:59.225 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 3.9742811375442555 m^1, east: -1.6431136374507658 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: 3.9742811375442555 m^1, east: -1.6431136374507658 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: 3.9742811375442555 m^1, east: -1.6431136374507658 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -4.174562329691311 m^1, east: -1.6431136374507658 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -4.174562061470409 m^1, east: -0.7843654021566482 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 3.974281405765157 m^1, east: -0.7843654021566482 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 3.9742816739860585 m^1, east: 0.0743828331374694 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -4.174561793249508 m^1, east: 0.0743828331374694 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -4.174561525028606 m^1, east: 0.933131068431587 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 3.97428194220696 m^1, east: 0.933131068431587 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 3.9742822104278615 m^1, east: 1.7918793037257046 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -4.174561256807705 m^1, east: 1.7918793037257046 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -4.174560988586803 m^1, east: 2.650627539019822 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 3.974282478648763 m^1, east: 2.650627539019822 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 3.974282776671987 m^1, east: 3.5093757743139395 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -4.174560720365902 m^1, east: 3.5093757743139395 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -4.174560452145 m^1, east: 4.368124009608057 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 3.9742830448928883 m^1, east: 4.368124009608057 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 3.9742831939045002 m^1, east: 5.226872244902175 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -4.174560154121776 m^1, east: 5.226872244902175 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), follow_bottom_slope: true } }]
20:15:59.225 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Preparing { lower_time_estimate: 160.7598020228742 s^1, upper_time_estimate: 541.1397030343113 s^1 })
20:15:59.225 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })
20:15:59.234 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Preparing { lower_time_estimate: 160.7598020228742 s^1, upper_time_estimate: 541.1397030343113 s^1 } for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:16:00.037 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:426] Details: Current depth goal: 0.20457577050811082, Enable control depth: 0.2, Depth control enabled: false
20:16:00.037 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:159] Enabling depth control and reset z-velocity PID controller
20:16:00.157 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:16:01.161 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:16:01.583 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:197] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
20:16:01.639 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 62. Duration: 167.2ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:16:02.165 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:16:03.168 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:16:04.172 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:16:05.177 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.76Hz
20:16:06.181 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:16:06.839 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 63. Duration: 167.2ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:16:07.185 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
20:16:08.190 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
20:16:09.194 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
20:16:10.197 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:16:11.200 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
20:16:11.876 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 32. Duration: 97.36ms. Header: LoraHeader { message_type: Discovery, target_id: 0, sender_id: 318451712, message_id: 0 }
20:16:12.204 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:16:13.208 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:16:14.211 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:16:15.215 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:16:16.218 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
20:16:17.221 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
20:16:17.239 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 63. Duration: 167.2ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:16:18.224 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
20:16:19.227 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
20:16:20.231 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:16:21.235 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:16:22.238 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:16:22.439 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 63. Duration: 167.2ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:16:23.242 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:16:24.245 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:16:25.249 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:16:26.252 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:16:27.255 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:16:27.639 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 63. Duration: 167.2ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:16:28.259 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:16:29.263 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:16:30.266 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:16:31.270 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:16:32.273 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:16:32.839 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 63. Duration: 167.2ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:16:33.277 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:16:34.280 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:16:35.283 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:16:36.287 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:16:37.291 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:16:38.039 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 63. Duration: 167.2ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:16:38.294 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:16:39.298 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
20:16:40.301 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
20:16:40.522 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:16:40.522 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:462] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })
20:16:40.542 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:16:40.584 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_0.raw" at altitude: Some(0.9695434062928519)
20:16:41.305 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:16:42.068 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:109] Robot is on track, resuming line traversal
20:16:42.308 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:16:42.569 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:16:42.592 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:16:43.091 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_1.raw" at altitude: Some(0.9181935829052282)
20:16:43.240 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 64. Duration: 167.2ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:16:43.311 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:16:44.315 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:16:44.596 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:16:44.617 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:16:45.199 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_8.raw" at altitude: Some(0.929755573184742)
20:16:45.319 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:16:46.323 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:16:46.624 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:16:46.645 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:16:47.327 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:16:47.448 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_16.raw" at altitude: Some(0.9407184310341237)
20:16:48.330 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:16:48.423 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 55. Duration: 151.68ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:16:48.651 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:16:48.671 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:16:49.333 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:16:49.699 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_24.raw" at altitude: Some(0.9499677372313198)
20:16:50.338 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
20:16:50.699 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:16:50.719 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:16:51.341 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:16:51.943 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_32.raw" at altitude: Some(0.9577728336921275)
20:16:52.345 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:16:52.727 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:16:52.747 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:16:53.349 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:16:53.623 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 55. Duration: 151.68ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:16:54.192 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_40.raw" at altitude: Some(0.9643595462514575)
20:16:54.352 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:16:54.754 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:16:54.774 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:16:55.356 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:16:56.360 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
20:16:56.441 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_48.raw" at altitude: Some(0.9699183068946403)
20:16:56.785 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:16:56.802 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:16:57.364 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
20:16:58.368 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:16:58.710 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_56.raw" at altitude: Some(0.9746481049904422)
20:16:58.816 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 53. Duration: 143.92ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:16:58.830 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:16:58.851 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:16:59.031 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:184] Line navigation complete
20:16:59.372 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:17:00.376 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:17:00.858 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:00.881 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:01.380 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:17:01.480 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_59.raw" at altitude: Some(0.9794274008883022)
20:17:02.383 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:17:02.885 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:02.905 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:03.388 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.73Hz
20:17:03.791 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_62.raw" at altitude: Some(0.9827140127697108)
20:17:04.016 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 53. Duration: 143.92ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:17:04.252 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:109] Robot is on track, resuming line traversal
20:17:04.393 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
20:17:04.915 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:04.935 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:05.397 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:17:06.000 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_66.raw" at altitude: Some(0.985365087491744)
20:17:06.401 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
20:17:06.963 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:06.983 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:07.406 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
20:17:08.249 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_74.raw" at altitude: Some(0.9876469417082715)
20:17:08.409 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:17:08.992 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:09.012 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:09.216 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 53. Duration: 143.92ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:17:09.413 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:17:10.416 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:17:10.498 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_82.raw" at altitude: Some(0.9895729377534617)
20:17:11.019 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:11.019 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:11.420 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:17:12.424 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:17:12.746 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_90.raw" at altitude: Some(0.9911985934799453)
20:17:13.046 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:13.067 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:13.428 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:17:14.416 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 53. Duration: 143.92ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:17:14.431 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:17:14.995 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_98.raw" at altitude: Some(0.9925707717984942)
20:17:15.095 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:15.115 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:15.436 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
20:17:16.440 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:17:17.122 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:17.143 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:17.243 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_106.raw" at altitude: Some(0.9937290041170709)
20:17:17.443 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:17:18.447 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:17:19.150 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:19.173 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:19.450 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:17:19.491 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_114.raw" at altitude: Some(0.9947066418604275)
20:17:19.548 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 67. Duration: 174.96ms. Header: LoraHeader { message_type: StreamPeriodicTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:17:20.454 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:17:21.117 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:184] Line navigation complete
20:17:21.177 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:21.197 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:21.458 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:17:22.461 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:17:22.828 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_121.raw" at altitude: Some(0.9958824405699489)
20:17:23.225 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:23.250 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:23.468 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.67Hz
20:17:24.477 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.56Hz
20:17:24.818 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 53. Duration: 143.92ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:17:25.249 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_124.raw" at altitude: Some(0.9965661684739172)
20:17:25.271 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:25.289 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:25.490 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.35Hz
20:17:26.253 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:109] Robot is on track, resuming line traversal
20:17:26.493 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:17:27.296 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:27.317 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:27.497 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:17:27.562 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_127.raw" at altitude: Some(0.9971145882220221)
20:17:28.501 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:17:29.324 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:29.344 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:29.504 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:17:29.585 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_134.raw" at altitude: Some(0.9975235256735993)
20:17:30.016 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 53. Duration: 143.92ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:17:30.508 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:17:31.371 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:31.391 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:31.511 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:17:31.833 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_142.raw" at altitude: Some(0.9979095853695577)
20:17:32.515 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:17:33.398 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:33.418 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:33.519 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:17:34.081 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_150.raw" at altitude: Some(0.9982354613691671)
20:17:34.522 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:17:35.216 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 53. Duration: 143.92ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:17:35.426 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:35.446 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:35.526 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:17:36.329 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_158.raw" at altitude: Some(0.9985105236386854)
20:17:36.529 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:17:37.457 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:37.474 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:37.534 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
20:17:38.538 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:17:38.578 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_166.raw" at altitude: Some(0.9987427147086108)
20:17:39.501 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:39.522 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:39.541 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:17:40.416 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 53. Duration: 143.92ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:17:40.545 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:17:40.826 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_174.raw" at altitude: Some(0.9989387177474598)
20:17:41.529 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:41.549 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:17:41.552 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:42.552 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:17:43.115 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_182.raw" at altitude: Some(0.9991068616639986)
20:17:43.215 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:184] Line navigation complete
20:17:43.536 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:43.556 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:17:43.556 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:44.560 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
20:17:45.564 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:17:45.564 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Executing)
20:17:45.585 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:17:45.616 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 53. Duration: 143.92ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:17:45.926 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:108] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-15-59-755b7a81-8x8_Inspection/mocked_image_185.raw" at altitude: Some(0.9992773664982215)
20:17:46.427 INFO  [robot_code/utilities/simulator/src/simulator.rs:330] Simulator dropped: Simulator()
20:17:46.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
20:17:46.428 INFO  [robot_code/robot_core/launch/src/lib.rs:604] Joined thread 'control'
20:17:46.428 INFO  [robot_code/robot_core/launch/src/lib.rs:600] Trying to join thread 'simulated_sonar'
20:17:46.588 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread 'tokio-runtime-worker' panicked at 'Simulator has been dropped': robot_code/utilities/simulator/src/simulator.rs:50
   0: log_panics::Config::install_panic_hook::{{closure}}

20:17:53.029 INFO  [robot_code/utilities/logging/src/logging.rs:94] ================================================================================
20:17:53.029 INFO  [robot_code/utilities/logging/src/logging.rs:95] Starting new Rust log session at 2025-11-29 20:17:53.029170512 +01:00
20:17:53.029 INFO  [robot_code/utilities/logging/src/logging.rs:96] ================================================================================
20:17:53.029 DEBUG [robot_code/utilities/logging/src/logging.rs:97] 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_iridium_interface": 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: {} }, "mocked_lora_module": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_task_scheduler": 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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } }, .. }, filters: [ThresholdFilter { level: Trace }] }] }) }
20:17:53.029 INFO  [robot_code/utilities/logging/src/logger_manager.rs:98] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-17-53_simulated_scout.lobsterlog")
20:17:53.032 DEBUG [robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: logging/high_frequency
20:17:53.033 INFO  [robot_code/robot_core/launch/src/lib.rs:134] 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] }, "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] }, "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" }], stereo: false, lights: Some(Lights { temperature_sensors: {"tailcone": [144801820246016, 164593029545984], "nosecone": [218469099307008, 214543499198464]}, overheating_threshold: 50.0 }), 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 }, identity: IdentitySettings { name: "simulated_scout", serial_number: None, ip_addresses: [], usbl_id: 0, iridium_serial: 0 }, iridium: IridiumSettings { enabled: false, gateway_addresses: {}, destination: None }, enabled: true, request_server: RequestServer { port: 10820 }, ui_settings_whitelist: ["actuation/max_current_change_per_second", "camera/use_mocked", "communication/world_model_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"], world_model_update_frequency_hz: 20.0 }, 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], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "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, position_threshold_z_crawling: 0.25, turn_off_crawler_line_path_planner: true } }, 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: false }, sonar: Sonar { enabled: true, ip: "192.168.30.104", tilt_degree: 15.0 }, usbl: None }, active_profile: Default, simulator: Some(SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, start_attitude_euler_degrees: [0.0, 0.0, 0.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0], sensor_noises: SensorNoises { noise_scaling_factor: 1.0, std_accelerometer: 0.02, std_gyroscope: 0.002, std_magnetometer: 2.0, std_dvl_velocity: 0.01, std_dvl_beam_distance: 0.1, std_gnss_receiver: 0.5, std_depth: 0.02 } }), state_estimation: StateEstimationSettings { depth_samples_max_timeout_millis: 10000, external_disturbance_heading_valid_time_minutes: 60.0, gnss_samples_use_one_in_n: 8, seafloor_depth_smoothing_factor: 0.3, seafloor_slope_smoothing_factor: 0.1, magnetic_field_strength_deviation: 4.0 }, task_scheduler: TaskSchedulerSettings { preparing_behavior: PreparationModeBehavior { max_number_gps_tasks: 2, max_number_move_to_start_tasks: 3 }, 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 }, sync_communication: SyncCommunicationSettings { min_duration_seconds: 30.0, max_duration_seconds: 90.0, step_duration_seconds: 2.0 }, 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 } }
20:17:53.109 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], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086]})
20:17:53.109 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
20:17:53.111 INFO  [robot_code/utilities/simulator/src/simulator.rs:89] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, start_attitude_euler_degrees: [0.0, 0.0, 0.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0], sensor_noises: SensorNoises { noise_scaling_factor: 1.0, std_accelerometer: 0.02, std_gyroscope: 0.002, std_magnetometer: 2.0, std_dvl_velocity: 0.01, std_dvl_beam_distance: 0.1, std_gnss_receiver: 0.5, std_depth: 0.02 } }
20:17:53.240 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], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086]})
20:17:53.240 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
20:17:53.650 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], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086]})
20:17:53.650 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
20:17:53.650 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: code_launch
20:17:53.651 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: imu
20:17:53.651 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: dvl_bottom_track
20:17:53.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: dvl_water_track
20:17:53.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: dvl_current_profile
20:17:53.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: dvl_depth
20:17:53.652 WARN  [robot_code/robot_core/launch/src/lib.rs:617] IMU not enabled
20:17:53.652 WARN  [robot_code/robot_core/launch/src/lib.rs:635] Magnetometer not enabled
20:17:53.652 WARN  [robot_code/robot_core/launch/src/lib.rs:180] Magnetometer not enabled, state estimation will not be able to use it
20:17:53.652 WARN  [robot_code/robot_core/launch/src/lib.rs:674] Nortek DVL not enabled
20:17:53.652 WARN  [robot_code/robot_core/launch/src/lib.rs:653] GPS not enabled
20:17:53.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: thruster_manager
20:17:53.652 DEBUG [robot_code/peripherals/actuation/src/lib.rs:296] Started simulated thruster module
20:17:53.652 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], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086]})
20:17:53.652 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
20:17:53.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/main_forwards
20:17:53.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/rear_sidewards
20:17:53.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/rear_right_upwards
20:17:53.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/rear_left_upwards
20:17:53.653 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/front_sidewards
20:17:53.653 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/front_right_upwards
20:17:53.653 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/front_left_upwards
20:17:53.653 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/internal_states
20:17:53.654 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/cascaded_control
20:17:53.654 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_position_settings
20:17:53.654 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_position
20:17:53.654 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_position_settings
20:17:53.654 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_position
20:17:53.654 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_position_settings
20:17:53.654 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_position
20:17:53.654 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_attitude_settings
20:17:53.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_attitude
20:17:53.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_attitude_settings
20:17:53.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_attitude
20:17:53.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_attitude_settings
20:17:53.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_attitude
20:17:53.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_velocity_settings
20:17:53.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_velocity
20:17:53.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_velocity_settings
20:17:53.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_velocity
20:17:53.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_velocity_settings
20:17:53.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_velocity
20:17:53.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_angular_velocity_settings
20:17:53.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_angular_velocity
20:17:53.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_angular_velocity_settings
20:17:53.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_angular_velocity
20:17:53.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_angular_velocity_settings
20:17:53.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_angular_velocity
20:17:53.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: virtual_normalized_integral_sensor
20:17:53.656 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], "sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "ps_location": [1.28577, 0.0, 0.06725], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "dvl_location": [1.3305, 0.0, 0.0176], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_left_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], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "gps_2_location": [1.05957, -0.00255, -0.20834], "camera_front_location": [1.1187, 0.0, 0.0066], "magnetometer_location": [1.06914, 0.00188, -0.20086]})
20:17:53.656 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
20:17:53.656 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
20:17:53.656 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 }
20:17:53.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
20:17:53.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 23425
20:17:53.657 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: sonar_range_image
20:17:53.657 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Control starting...
20:17:53.657 INFO  [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0
20:17:53.675 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: sonar_intensity_image
20:17:53.677 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulated_sonar
20:17:53.677 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 }
20:17:53.677 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulated_sonar' successfully started
20:17:53.677 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulated_sonar with pid: 23428
20:17:53.677 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_manager
20:17:53.677 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 }
20:17:53.677 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'sonar_manager' successfully started
20:17:53.677 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: kinematic_state
20:17:53.677 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread sonar_manager with pid: 23429
20:17:53.677 INFO  [robot_code/peripherals/sonar/src/sonar_manager.rs:40] Turning sonar on, because the robot is in the water
20:17:53.678 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: environment_state
20:17:53.678 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: se_debug_stats
20:17:53.687 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
20:17:53.687 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 }
20:17:53.687 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
20:17:53.687 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 23437
20:17:53.717 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: path_planning/meta_info
20:17:53.758 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
20:17:53.758 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop
20:17:53.758 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 }
20:17:53.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
20:17:53.759 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
20:17:53.759 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_payload
20:17:53.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: payload_sessions
20:17:53.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 23441
20:17:53.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: task_scheduler/meta_info
20:17:53.779 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
20:17:53.779 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 }
20:17:53.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
20:17:53.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 23444
20:17:53.779 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: task_scheduler/executor_actions
20:17:53.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: task_scheduler/active_tasks
20:17:53.780 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_interruption_thread
20:17:53.780 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
20:17:53.780 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 }
20:17:53.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
20:17:53.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 23496
20:17:53.781 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
20:17:53.819 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for request_handling_toolbox
20:17:53.819 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:220] Received request while idle: GetTaskQueue
20:17:53.819 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for system_control_input
20:17:53.821 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)]}}}
20:17:53.821 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.
20:17:53.822 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {}
20:17:53.822 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'default'. Description: 
20:17:53.824 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {"camera": Object {"live_stitching": Null, "use_mocked": Bool(true)}, "communication": Object {"enabled": Bool(false), "identity": Object {"name": String("simulated_scout")}, "iridium": Object {"enabled": Bool(false)}}, "robot": Object {"can_enabled": Bool(false), "logging_name": String("simulated_scout")}, "sensors": Object {"gps": Object {"enabled": Bool(false)}, "imu": Object {"enabled": Bool(false)}, "magnetometer": Object {"enabled": Bool(false)}, "nortek_dvl": Object {"enabled": Bool(false)}, "sonar": Object {"enabled": Bool(true), "tilt_degree": Number(15.0)}, "usbl": Null}, "simulator": Object {"bottom": String("flat"), "enable_user_debug_parameters": Bool(false), "gui": Bool(false), "multi_beam": Object {"fov": Number(120), "n_beams": Number(50), "pos": Array [Number(0.9), Number(0.0), Number(0.0)], "range": Number(15.0), "tilt": Number(20.0), "visualize_beams": Bool(false)}, "origin_latitude": Number(52.048187), "origin_longitude": Number(4.369903), "realtime": Bool(false), "scout_model": String("scout3"), "sea_floor_depth": Number(10.0), "sensor_noises": Object {"noise_scaling_factor": Number(1.0), "std_accelerometer": Number(0.02), "std_depth": Number(0.02), "std_dvl_beam_distance": Number(0.1), "std_dvl_velocity": Number(0.01), "std_gnss_receiver": Number(0.5), "std_gyroscope": Number(0.002), "std_magnetometer": Number(2.0)}, "start_attitude_euler_degrees": Array [Number(0.0), Number(0.0), Number(0.0)], "start_position": Array [Number(0), Number(0), Number(1)], "steps_per_second": Number(50), "water_current": Array [Number(0.0), Number(0.0), Number(0.0)]}}
20:17:53.824 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'simulator'. Description: When using the simulator
20:17:53.826 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for communication
20:17:53.826 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'communication' with StopRunningFlag { name: "communication", id: 0, stop_running: false, do_auto_stop: true }
20:17:53.826 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'communication' successfully started
20:17:53.826 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
20:17:53.826 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread communication with pid: 23498
20:17:53.826 INFO  [robot_code/robot_core/launch/src/lib.rs:590] Waiting until code stops running so threads can be joined
20:17:53.826 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
20:17:53.826 INFO  [robot_code/robot_core/launch/src/lib.rs:600] Trying to join thread 'control'
20:17:53.826 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
20:17:53.826 INFO  [robot_code/peripherals/communication/src/grpc_handlers/mod.rs:91] grpc listening on 0.0.0.0:10820
20:17:53.826 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for telemetry_stream
20:17:53.839 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:220] Received request while idle: GetTaskQueue
20:17:53.839 INFO  [robot_code/peripherals/communication/src/grpc_handlers/sonar_handler.rs:54] Creating sonar service
20:17:53.839 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_service
20:17:53.839 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "request_handling_toolbox", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:17:53.839 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: false }
20:17:53.840 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
20:17:53.840 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 23501
20:17:53.840 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:156] Started watching interfaces
20:17:53.840 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:101] Sending heartbeat simulated_scout:318451712@[] to: ["255.255.255.255:10899", "192.168.30.255:10899"]
20:17:53.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: communication/incoming_lora
20:17:53.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: communication/outgoing_lora
20:17:53.842 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for core_telemetry_stream
20:17:53.843 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for periodic_telemetry_stream
20:17:53.870 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for core_telemetry_stream
20:17:53.870 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for periodic_telemetry_stream
20:17:53.870 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for extended_telemetry_stream
20:17:53.940 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 32. Duration: 97.36ms. Header: LoraHeader { message_type: Discovery, target_id: 0, sender_id: 318451712, message_id: 0 }
20:17:53.955 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for periodic_telemetry_stream
20:17:53.955 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for extended_telemetry_stream
20:17:53.955 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for core_telemetry_stream
20:17:53.971 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "core_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:17:53.971 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "extended_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:17:54.722 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 47.31Hz
20:17:54.871 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "periodic_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:17:55.406 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for core_telemetry_stream
20:17:55.406 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for periodic_telemetry_stream
20:17:55.406 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for extended_telemetry_stream
20:17:55.456 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "core_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:17:55.456 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "extended_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:17:55.725 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
20:17:55.956 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "periodic_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:17:56.728 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
20:17:57.731 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:17:58.735 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:17:59.172 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 45. Duration: 128.4ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:17:59.739 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:18:00.743 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:18:01.747 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:18:02.750 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:18:03.754 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:18:04.372 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 45. Duration: 128.4ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:18:04.758 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
20:18:05.762 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
20:18:06.766 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:18:07.769 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:18:08.773 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:18:09.777 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
20:18:10.781 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:18:11.784 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:18:12.647 INFO  [robot_code/utilities/simulator/src/simulator.rs:330] Simulator dropped: Simulator()
20:18:12.647 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
20:18:12.648 INFO  [robot_code/robot_core/launch/src/lib.rs:604] Joined thread 'control'
20:18:12.648 INFO  [robot_code/robot_core/launch/src/lib.rs:600] Trying to join thread 'simulated_sonar'
20:18:12.654 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread 'tokio-runtime-worker' panicked at 'Simulator has been dropped': robot_code/utilities/simulator/src/simulator.rs:50
   0: log_panics::Config::install_panic_hook::{{closure}}

20:22:19.369 INFO  [robot_code/utilities/logging/src/logging.rs:94] ================================================================================
20:22:19.369 INFO  [robot_code/utilities/logging/src/logging.rs:95] Starting new Rust log session at 2025-11-29 20:22:19.369643072 +01:00
20:22:19.369 INFO  [robot_code/utilities/logging/src/logging.rs:96] ================================================================================
20:22:19.369 DEBUG [robot_code/utilities/logging/src/logging.rs:97] 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_iridium_interface": 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: {} }, "mocked_lora_module": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3, 4], children: {} }, "lobster_task_scheduler": 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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_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/2025-11-29_simulated_scout/2025-11-29_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } }, .. }, filters: [ThresholdFilter { level: Trace }] }] }) }
20:22:19.369 INFO  [robot_code/utilities/logging/src/logger_manager.rs:98] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-11-29_simulated_scout/2025-11-29_20-22-19_simulated_scout.lobsterlog")
20:22:19.373 DEBUG [robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: logging/high_frequency
20:22:19.374 INFO  [robot_code/robot_core/launch/src/lib.rs:134] 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" }], stereo: false, lights: Some(Lights { temperature_sensors: {"nosecone": [218469099307008, 214543499198464], "tailcone": [144801820246016, 164593029545984]}, overheating_threshold: 50.0 }), 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 }, identity: IdentitySettings { name: "simulated_scout", serial_number: None, ip_addresses: [], usbl_id: 0, iridium_serial: 0 }, iridium: IridiumSettings { enabled: false, gateway_addresses: {}, destination: None }, enabled: true, request_server: RequestServer { port: 10820 }, ui_settings_whitelist: ["actuation/max_current_change_per_second", "camera/use_mocked", "communication/world_model_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"], world_model_update_frequency_hz: 20.0 }, 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_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "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], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "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], "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, position_threshold_z_crawling: 0.25, turn_off_crawler_line_path_planner: true } }, 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: false }, sonar: Sonar { enabled: true, ip: "192.168.30.104", tilt_degree: 15.0 }, usbl: None }, active_profile: Default, simulator: Some(SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, start_attitude_euler_degrees: [0.0, 0.0, 0.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0], sensor_noises: SensorNoises { noise_scaling_factor: 1.0, std_accelerometer: 0.02, std_gyroscope: 0.002, std_magnetometer: 2.0, std_dvl_velocity: 0.01, std_dvl_beam_distance: 0.1, std_gnss_receiver: 0.5, std_depth: 0.02 } }), state_estimation: StateEstimationSettings { depth_samples_max_timeout_millis: 10000, external_disturbance_heading_valid_time_minutes: 60.0, gnss_samples_use_one_in_n: 8, seafloor_depth_smoothing_factor: 0.3, seafloor_slope_smoothing_factor: 0.1, magnetic_field_strength_deviation: 4.0 }, task_scheduler: TaskSchedulerSettings { preparing_behavior: PreparationModeBehavior { max_number_gps_tasks: 2, max_number_move_to_start_tasks: 3 }, 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 }, sync_communication: SyncCommunicationSettings { min_duration_seconds: 30.0, max_duration_seconds: 90.0, step_duration_seconds: 2.0 }, 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 } }
20:22:19.438 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "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], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "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], "camera_front_location": [1.1187, 0.0, 0.0066]})
20:22:19.438 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
20:22:19.440 INFO  [robot_code/utilities/simulator/src/simulator.rs:89] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: true, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, start_attitude_euler_degrees: [0.0, 0.0, 0.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0], sensor_noises: SensorNoises { noise_scaling_factor: 1.0, std_accelerometer: 0.02, std_gyroscope: 0.002, std_magnetometer: 2.0, std_dvl_velocity: 0.01, std_dvl_beam_distance: 0.1, std_gnss_receiver: 0.5, std_depth: 0.02 } }
20:22:19.561 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "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], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "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], "camera_front_location": [1.1187, 0.0, 0.0066]})
20:22:19.562 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
20:22:19.789 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "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], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "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], "camera_front_location": [1.1187, 0.0, 0.0066]})
20:22:19.789 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
20:22:19.789 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: code_launch
20:22:19.789 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: imu
20:22:19.789 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: dvl_bottom_track
20:22:19.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: dvl_water_track
20:22:19.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: dvl_current_profile
20:22:19.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: dvl_depth
20:22:19.790 WARN  [robot_code/robot_core/launch/src/lib.rs:617] IMU not enabled
20:22:19.790 WARN  [robot_code/robot_core/launch/src/lib.rs:635] Magnetometer not enabled
20:22:19.790 WARN  [robot_code/robot_core/launch/src/lib.rs:180] Magnetometer not enabled, state estimation will not be able to use it
20:22:19.790 WARN  [robot_code/robot_core/launch/src/lib.rs:674] Nortek DVL not enabled
20:22:19.790 WARN  [robot_code/robot_core/launch/src/lib.rs:653] GPS not enabled
20:22:19.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: thruster_manager
20:22:19.790 DEBUG [robot_code/peripherals/actuation/src/lib.rs:296] Started simulated thruster module
20:22:19.790 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "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], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "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], "camera_front_location": [1.1187, 0.0, 0.0066]})
20:22:19.790 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
20:22:19.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/main_forwards
20:22:19.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/rear_sidewards
20:22:19.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/rear_right_upwards
20:22:19.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/rear_left_upwards
20:22:19.791 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/front_sidewards
20:22:19.791 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/front_right_upwards
20:22:19.791 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: hardware_status/front_left_upwards
20:22:19.791 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/internal_states
20:22:19.791 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/cascaded_control
20:22:19.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_position_settings
20:22:19.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_position
20:22:19.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_position_settings
20:22:19.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_position
20:22:19.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_position_settings
20:22:19.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_position
20:22:19.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_attitude_settings
20:22:19.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_attitude
20:22:19.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_attitude_settings
20:22:19.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_attitude
20:22:19.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_attitude_settings
20:22:19.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_attitude
20:22:19.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_velocity_settings
20:22:19.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_velocity
20:22:19.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_velocity_settings
20:22:19.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_velocity
20:22:19.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_velocity_settings
20:22:19.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_velocity
20:22:19.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_angular_velocity_settings
20:22:19.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/x_angular_velocity
20:22:19.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_angular_velocity_settings
20:22:19.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/y_angular_velocity
20:22:19.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_angular_velocity_settings
20:22:19.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: control/pid/z_angular_velocity
20:22:19.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: virtual_normalized_integral_sensor
20:22:19.794 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "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], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_2_location": [1.05957, -0.00255, -0.20834], "dvl_location": [1.3305, 0.0, 0.0176], "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], "camera_front_location": [1.1187, 0.0, 0.0066]})
20:22:19.794 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
20:22:19.794 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
20:22:19.794 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 }
20:22:19.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
20:22:19.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 26179
20:22:19.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: sonar_range_image
20:22:19.794 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Control starting...
20:22:19.795 INFO  [robot_code/robot_core/control/src/control_safety.rs:107] Starting at 0.0
20:22:19.798 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: sonar_intensity_image
20:22:19.799 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulated_sonar
20:22:19.799 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 }
20:22:19.799 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulated_sonar' successfully started
20:22:19.799 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulated_sonar with pid: 26182
20:22:19.799 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_manager
20:22:19.799 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 }
20:22:19.799 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'sonar_manager' successfully started
20:22:19.799 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: kinematic_state
20:22:19.799 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread sonar_manager with pid: 26183
20:22:19.799 INFO  [robot_code/peripherals/sonar/src/sonar_manager.rs:40] Turning sonar on, because the robot is in the water
20:22:19.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: environment_state
20:22:19.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: se_debug_stats
20:22:19.805 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
20:22:19.805 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 }
20:22:19.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
20:22:19.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 26187
20:22:19.835 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: path_planning/meta_info
20:22:19.873 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
20:22:19.873 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:99] Starting simulator runner loop
20:22:19.873 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 }
20:22:19.873 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
20:22:19.873 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
20:22:19.873 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_payload
20:22:19.873 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 26189
20:22:19.873 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: payload_sessions
20:22:19.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: task_scheduler/meta_info
20:22:19.893 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
20:22:19.893 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 }
20:22:19.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
20:22:19.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 26193
20:22:19.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: task_scheduler/executor_actions
20:22:19.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: task_scheduler/active_tasks
20:22:19.895 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_interruption_thread
20:22:19.895 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
20:22:19.895 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 }
20:22:19.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
20:22:19.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 26245
20:22:19.895 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
20:22:19.933 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:220] Received request while idle: GetTaskQueue
20:22:19.933 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for request_handling_toolbox
20:22:19.933 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for system_control_input
20:22:19.937 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)]}}}
20:22:19.937 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.
20:22:19.941 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {}
20:22:19.941 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'default'. Description: 
20:22:19.943 DEBUG [robot_code/utilities/settings/src/settings/mod.rs:79] Applying setting overwrites: Object {"camera": Object {"live_stitching": Null, "use_mocked": Bool(true)}, "communication": Object {"enabled": Bool(false), "identity": Object {"name": String("simulated_scout")}, "iridium": Object {"enabled": Bool(false)}}, "robot": Object {"can_enabled": Bool(false), "logging_name": String("simulated_scout")}, "sensors": Object {"gps": Object {"enabled": Bool(false)}, "imu": Object {"enabled": Bool(false)}, "magnetometer": Object {"enabled": Bool(false)}, "nortek_dvl": Object {"enabled": Bool(false)}, "sonar": Object {"enabled": Bool(true), "tilt_degree": Number(15.0)}, "usbl": Null}, "simulator": Object {"bottom": String("flat"), "enable_user_debug_parameters": Bool(false), "gui": Bool(false), "multi_beam": Object {"fov": Number(120), "n_beams": Number(50), "pos": Array [Number(0.9), Number(0.0), Number(0.0)], "range": Number(15.0), "tilt": Number(20.0), "visualize_beams": Bool(false)}, "origin_latitude": Number(52.048187), "origin_longitude": Number(4.369903), "realtime": Bool(false), "scout_model": String("scout3"), "sea_floor_depth": Number(10.0), "sensor_noises": Object {"noise_scaling_factor": Number(1.0), "std_accelerometer": Number(0.02), "std_depth": Number(0.02), "std_dvl_beam_distance": Number(0.1), "std_dvl_velocity": Number(0.01), "std_gnss_receiver": Number(0.5), "std_gyroscope": Number(0.002), "std_magnetometer": Number(2.0)}, "start_attitude_euler_degrees": Array [Number(0.0), Number(0.0), Number(0.0)], "start_position": Array [Number(0), Number(0), Number(1)], "steps_per_second": Number(50), "water_current": Array [Number(0.0), Number(0.0), Number(0.0)]}}
20:22:19.943 INFO  [robot_code/utilities/settings/src/settings/mod.rs:81] Applied setting overwrite profile 'simulator'. Description: When using the simulator
20:22:19.945 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for communication
20:22:19.945 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'communication' with StopRunningFlag { name: "communication", id: 0, stop_running: false, do_auto_stop: true }
20:22:19.945 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'communication' successfully started
20:22:19.945 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
20:22:19.945 INFO  [robot_code/robot_core/launch/src/lib.rs:590] Waiting until code stops running so threads can be joined
20:22:19.945 INFO  [robot_code/robot_core/launch/src/lib.rs:600] Trying to join thread 'control'
20:22:19.945 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread communication with pid: 26247
20:22:19.945 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
20:22:19.945 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
20:22:19.945 INFO  [robot_code/peripherals/communication/src/grpc_handlers/mod.rs:91] grpc listening on 0.0.0.0:10820
20:22:19.946 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for telemetry_stream
20:22:19.953 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:220] Received request while idle: GetTaskQueue
20:22:19.953 INFO  [robot_code/peripherals/communication/src/grpc_handlers/sonar_handler.rs:54] Creating sonar service
20:22:19.953 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for sonar_service
20:22:19.953 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "request_handling_toolbox", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:22:19.953 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: false }
20:22:19.953 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
20:22:19.953 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 26250
20:22:19.954 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:156] Started watching interfaces
20:22:19.954 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:101] Sending heartbeat simulated_scout:318451712@[] to: ["255.255.255.255:10899", "192.168.30.255:10899"]
20:22:19.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: communication/incoming_lora
20:22:19.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: communication/outgoing_lora
20:22:19.956 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for core_telemetry_stream
20:22:19.956 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for periodic_telemetry_stream
20:22:19.989 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for core_telemetry_stream
20:22:19.989 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for periodic_telemetry_stream
20:22:19.989 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for extended_telemetry_stream
20:22:20.053 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 32. Duration: 97.36ms. Header: LoraHeader { message_type: Discovery, target_id: 0, sender_id: 318451712, message_id: 0 }
20:22:20.152 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for core_telemetry_stream
20:22:20.152 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for periodic_telemetry_stream
20:22:20.153 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for extended_telemetry_stream
20:22:20.190 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "extended_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:22:20.190 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "core_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:22:20.836 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 47.47Hz
20:22:20.990 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "periodic_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:22:21.839 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:22:21.938 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for core_telemetry_stream
20:22:21.938 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for periodic_telemetry_stream
20:22:21.938 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for extended_telemetry_stream
20:22:21.953 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "core_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:22:21.954 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "extended_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:22:22.154 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "periodic_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:22:22.624 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:220] Received request while idle: AddTask(SurveyArea: '8x8 Inspection')
20:22:22.624 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:99] Creating logger to table: coverage
20:22:22.845 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.75Hz
20:22:23.848 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:22:24.851 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:22:25.286 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 45. Duration: 128.4ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:22:25.855 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:22:26.859 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
20:22:27.101 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:220] Received request while idle: Engage
20:22:27.101 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:137] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
20:22:27.101 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:609] Starting task Task(type: Upright, id: 938d1699-ce96-47cb-b58c-7adf3fe4aca8)
20:22:27.131 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:383] Tried to disable safety mode while not in safety mode, ignoring
20:22:27.131 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [DirectControl(ControlGoalWithMeta { id: 8a1d3140-e9fb-48d6-8dfe-2968c386eb50, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
20:22:27.131 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: 8a1d3140-e9fb-48d6-8dfe-2968c386eb50, start_time: None, goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
20:22:27.141 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 8a1d3140-e9fb-48d6-8dfe-2968c386eb50, start_time: Some(7.26 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started)
20:22:27.141 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:459] Discarded 0 path planner updates before receiving the expected update
20:22:27.141 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:137] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Upright, id: 938d1699-ce96-47cb-b58c-7adf3fe4aca8)"), mode: None }
20:22:27.151 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
20:22:27.151 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: 8a1d3140-e9fb-48d6-8dfe-2968c386eb50, start_time: Some(7.26 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished)
20:22:27.151 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: 0.6017474112655458 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
20:22:27.162 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: 8a1d3140-e9fb-48d6-8dfe-2968c386eb50, start_time: Some(7.26 s^1), goal: Angular(Attitude { attitude: [0.0, 0.0, -0.0, 1.0], roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })
20:22:27.162 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:609] Starting task Task(type: SurveyArea, id: 9f8ca4b3-f25d-4c6a-adb1-fb34ed930e81, name: '8x8 Inspection')
20:22:27.173 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
20:22:27.173 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
20:22:27.221 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:541] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))]
20:22:27.221 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:543] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))]
20:22:27.221 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Started)
20:22:27.221 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:459] Discarded 0 path planner updates before receiving the expected update
20:22:27.221 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:137] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, id: 9f8ca4b3-f25d-4c6a-adb1-fb34ed930e81, name: '8x8 Inspection')"), mode: None }
20:22:27.221 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:33] StopRunningFlag created with ID: 1
20:22:27.222 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 1 cloned for mocked_camera_state
20:22:27.252 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:68] Engaging thrusters
20:22:27.252 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: 0.5956820117247255 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
20:22:27.252 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:262] Constructed path: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 3.9742811375442555 m^1, east: -1.6431136374507658 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: 3.9742811375442555 m^1, east: -1.6431136374507658 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: 3.9742811375442555 m^1, east: -1.6431136374507658 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -4.174562329691311 m^1, east: -1.6431136374507658 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -4.174562061470409 m^1, east: -0.7843654021566482 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 3.974281405765157 m^1, east: -0.7843654021566482 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 3.9742816739860585 m^1, east: 0.0743828331374694 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -4.174561793249508 m^1, east: 0.0743828331374694 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -4.174561525028606 m^1, east: 0.933131068431587 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 3.97428194220696 m^1, east: 0.933131068431587 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 3.9742822104278615 m^1, east: 1.7918793037257046 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -4.174561256807705 m^1, east: 1.7918793037257046 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -4.174560988586803 m^1, east: 2.650627539019822 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 3.974282478648763 m^1, east: 2.650627539019822 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 3.974282776671987 m^1, east: 3.5093757743139395 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -4.174560720365902 m^1, east: 3.5093757743139395 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -4.174560452145 m^1, east: 4.368124009608057 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: 3.9742830448928883 m^1, east: 4.368124009608057 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), follow_bottom_slope: true } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: 3.9742831939045002 m^1, east: 5.226872244902175 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }, end: PositionNE { north: -4.174560154121776 m^1, east: 5.226872244902175 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), follow_bottom_slope: true } }]
20:22:27.252 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:319] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })), Preparing { lower_time_estimate: 159.70658586344047 s^1, upper_time_estimate: 539.5598787951607 s^1 })
20:22:27.252 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:273] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true })
20:22:27.261 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:533] Processing goal update: Preparing { lower_time_estimate: 159.70658586344047 s^1, upper_time_estimate: 539.5598787951607 s^1 } for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))
20:22:27.863 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:22:28.868 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.76Hz
20:22:29.872 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
20:22:30.524 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 62. Duration: 167.2ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:22:30.876 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.81Hz
20:22:31.879 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:22:32.886 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.66Hz
20:22:33.889 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.86Hz
20:22:34.894 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.77Hz
20:22:35.724 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 63. Duration: 167.2ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:22:35.897 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.83Hz
20:22:36.901 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:22:37.904 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
20:22:38.908 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:22:39.912 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.79Hz
20:22:40.915 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:22:40.924 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 63. Duration: 167.2ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:22:41.918 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
20:22:42.923 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.78Hz
20:22:43.927 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.82Hz
20:22:44.609 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:146] Received request while active: Disengage
20:22:44.609 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:169] Disengaging TaskExecutor
20:22:44.609 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:552] Cancelling goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.908411590562545 0.07626857924155261,0.9084128437089476 0.07626857924155261,0.9084128437089476 0.07627061778611777,0.908411590562545 0.07627061778611777,0.908411590562545 0.07626857924155261)), 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, follow_bottom_slope: true }))]
20:22:44.609 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:361] Control Manager has stopped
20:22:44.609 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:74] Disengaging thrusters
20:22:44.629 WARN  [robot_code/peripherals/payload/src/position_camera.rs:229] Payload request channel disconnected, stopping camera trigger.
20:22:44.629 DEBUG [robot_code/peripherals/payload/src/lib.rs:123] Joined payload session thread: Some(Ok(()))
20:22:44.629 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:181] Camera trigger responder stopped: RecvError
20:22:44.629 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:185] Stopped mocked camera recording.
20:22:44.629 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...
20:22:44.629 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 }...
20:22:44.629 INFO  [robot_code/utilities/logging/src/logger_manager.rs:273] Stopped high frequency logging to database
20:22:44.629 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:137] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("IdleMode") }
20:22:44.930 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
20:22:45.340 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "core_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:22:45.340 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "extended_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:22:45.933 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.85Hz
20:22:45.939 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:108] StopRunningFlag { name: "periodic_telemetry_stream", id: 0, stop_running: false, do_auto_stop: false } got dropped, but auto stop is disabled.
20:22:46.109 WARN  [ancillary_projects/mocked_lora_module/src/lib.rs:109] Mocked LoRa interruption (i.g. because of submerged robot), dropping outgoing packet: Size: 57. Duration: 151.68ms. Header: LoraHeader { message_type: StreamCoreTelemetry, target_id: 0, sender_id: 318451712, message_id: 0 }
20:22:46.938 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.74Hz
20:22:47.941 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.84Hz
20:22:48.945 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:137] Simulated robot code update rate: 49.80Hz
20:22:49.678 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
20:22:49.679 INFO  [robot_code/robot_core/launch/src/lib.rs:604] Joined thread 'control'
20:22:49.679 INFO  [robot_code/robot_core/launch/src/lib.rs:600] Trying to join thread 'simulated_sonar'
20:22:49.688 INFO  [robot_code/utilities/simulator/src/simulator.rs:330] Simulator dropped: Simulator()
20:22:49.861 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread 'tokio-runtime-worker' panicked at 'Simulator has been dropped': robot_code/utilities/simulator/src/simulator.rs:50
   0: log_panics::Config::install_panic_hook::{{closure}}