2024-10-21 21:44:16.264 INFO rsyslogd:   [origin software="rsyslogd" swVersion="8.32.0" x-pid="790" x-info="http://www.rsyslog.com"] rsyslogd was HUPed
2024-10-21 21:44:18.422 NOTI anacron[835]:  Job `cron.daily' terminated
2024-10-21 21:44:31.510 WARN gnome-software[2747]:  no app for changed ubuntu-dock@ubuntu.com
2024-10-21 21:44:31.514 WARN gnome-software[2747]:  no app for changed ubuntu-appindicators@ubuntu.com
2024-10-21 21:46:46.922 INFO ubuntu-report[977]:  level=error msg="data were not delivered successfully to metrics server, retrying in 480s"
2024-10-21 21:46:49.336 INFO systemd[1]:  Starting Ubuntu Advantage APT and MOTD Messages...
2024-10-21 21:46:49.637 INFO systemd[1]:  Started Ubuntu Advantage APT and MOTD Messages.
2024-10-21 21:49:15.932 NOTI anacron[835]:  Job `cron.weekly' started
2024-10-21 21:49:15.953 NOTI anacron[3075]:  Updated timestamp for job `cron.weekly' to 2024-10-21
2024-10-21 21:49:16.474 NOTI anacron[835]:  Job `cron.weekly' terminated
2024-10-21 21:49:16.474 NOTI anacron[835]:  Normal exit (2 jobs run)
2024-10-21 21:53:41.241 INFO systemd[1]:  Started Session 3 of user nvidia.
2024-10-21 21:54:16.279 INFO systemd[1]:  Starting Cleanup of Temporary Directories...
2024-10-21 21:54:16.313 INFO systemd[1]:  Started Cleanup of Temporary Directories.
2024-10-21 21:54:46.923 INFO ubuntu-report[977]:  level=error msg="data were not delivered successfully to metrics server, retrying in 960s"
2024-10-21 21:58:36.251 INFO systemd[1]:  Started Session 4 of user nvidia.
2024-10-21 22:02:01.462 INFO vino-server[1667]:  21/10/2024 22时02分01秒 [IPv4] Got connection from client 192.168.1.142
2024-10-21 22:02:01.469 INFO vino-server[1667]:  21/10/2024 22时02分01秒   other clients:
2024-10-21 22:02:01.481 INFO vino-server[1667]:  21/10/2024 22时02分01秒 Client Protocol Version 3.7
2024-10-21 22:02:01.481 INFO vino-server[1667]:  21/10/2024 22时02分01秒 Advertising security type 18
2024-10-21 22:02:01.481 INFO vino-server[1667]:  21/10/2024 22时02分01秒 Advertising security type 2
2024-10-21 22:02:01.484 INFO vino-server[1667]:  21/10/2024 22时02分01秒 Client returned security type 2
2024-10-21 22:02:01.546 INFO vino-server[1667]:  21/10/2024 22时02分01秒 rfbProcessClientNormalMessage: ignoring unknown encoding type 24
2024-10-21 22:02:01.546 INFO vino-server[1667]:  21/10/2024 22时02分01秒 rfbProcessClientNormalMessage: ignoring unknown encoding type 22
2024-10-21 22:02:01.546 INFO vino-server[1667]:  21/10/2024 22时02分01秒 rfbProcessClientNormalMessage: ignoring unknown encoding type 21
2024-10-21 22:02:01.546 INFO vino-server[1667]:  21/10/2024 22时02分01秒 rfbProcessClientNormalMessage: ignoring unknown encoding type 15
2024-10-21 22:02:01.546 INFO vino-server[1667]:  21/10/2024 22时02分01秒 rfbProcessClientNormalMessage: ignoring unknown encoding type -314
2024-10-21 22:02:01.546 INFO vino-server[1667]:  21/10/2024 22时02分01秒 Enabling NewFBSize protocol extension for client 192.168.1.142
2024-10-21 22:02:01.548 INFO vino-server[1667]:  21/10/2024 22时02分01秒 Pixel format for client 192.168.1.142:
2024-10-21 22:02:01.548 INFO vino-server[1667]:  21/10/2024 22时02分01秒   8 bpp, depth 6
2024-10-21 22:02:01.548 INFO vino-server[1667]:  21/10/2024 22时02分01秒   true colour: max r 3 g 3 b 3, shift r 4 g 2 b 0
2024-10-21 22:02:01.569 ERR kernel: [ 1371.329183] [drm:intel_enable_ddi [i915]] *ERROR* [CONNECTOR:96:HDMI-A-1] Failed to configure sink scrambling/TMDS bit clock ratio
2024-10-21 22:02:01.626 DEBU rtkit-daemon[1327]:  Supervising 2 threads of 1 processes of 1 users.
2024-10-21 22:02:01.637 INFO rtkit-daemon[1327]:  Successfully made thread 4562 of process 1326 (n/a) owned by '1000' RT at priority 5.
2024-10-21 22:02:01.637 DEBU rtkit-daemon[1327]:  Supervising 3 threads of 1 processes of 1 users.
2024-10-21 22:02:01.640 WARN gsd-media-keys[1621]:  Unable to get default sink
2024-10-21 22:02:03.190 NOTI gnome-shell[1267]:  JS WARNING: [resource:///org/gnome/shell/ui/notificationDaemon.js 121]: reference to undefined property "image-path"
2024-10-21 22:02:06.043 WARN gnome-software[2747]:  no app for changed ubuntu-dock@ubuntu.com
2024-10-21 22:02:06.045 WARN gnome-software[2747]:  no app for changed ubuntu-appindicators@ubuntu.com
2024-10-21 22:02:06.462 INFO dbus-daemon[1078]:  [session uid=1000 pid=1078] Activating via systemd: service name='org.gtk.vfs.Metadata' unit='gvfs-metadata.service' requested by ':1.20' (uid=1000 pid=1267 comm="/usr/bin/gnome-shell " label="unconfined")
2024-10-21 22:02:06.465 INFO systemd[965]:  Starting Virtual filesystem metadata service...
2024-10-21 22:02:06.473 INFO dbus-daemon[1078]:  [session uid=1000 pid=1078] Successfully activated service 'org.gtk.vfs.Metadata'
2024-10-21 22:02:06.473 INFO systemd[965]:  Started Virtual filesystem metadata service.
2024-10-21 22:02:06.474 WARN gvfsd-metadata[4578]:  g_udev_device_has_property: assertion 'G_UDEV_IS_DEVICE (device)' failed
2024-10-21 22:02:06.474 WARN gvfsd-metadata[4578]:  g_udev_device_has_property: assertion 'G_UDEV_IS_DEVICE (device)' failed
2024-10-21 22:02:08.439 INFO base_pt100:  [BaseDiff] Goodbye base_pt100! V2.5.1
2024-10-21 22:02:08.442 INFO base_pt100:  [BaseDiff] Can recieve thread exit!
2024-10-21 22:02:08.476 INFO featureExtraction:  [FeatureExtraction] Goodbye FeatureExtraction! V1.7.0
2024-10-21 22:02:08.526 INFO teleop_joy:  [Joy] Goodbye teleop_twist_joy! V3.3.0
2024-10-21 22:02:08.603 INFO imuPreintegration:  [IMUPreintegration] Goodbye IMUPreintegration! V1.7.0
2024-10-21 22:02:08.629 INFO localization:  [Location] localizer publish thread exit!
2024-10-21 22:02:08.629 INFO localization:  [Location] Goodbye picasso_localization! V3.3.5
2024-10-21 22:02:08.697 INFO task_control:  [TaskControl] Goodbye task_control! V2.2.3 (Proto V1.8.1)
2024-10-21 22:02:08.701 INFO task_control:  [TaskControl] file data recieve thread exit!
2024-10-21 22:02:08.703 INFO task_control:  [TaskControl] cmd data recieve thread exit!
2024-10-21 22:02:08.708 INFO imageProjection:  [ImageProjection] Goodbye ImageProjection! V1.7.0
2024-10-21 22:02:08.709 INFO task_control:  [TaskControl] send state msg thread exit!
2024-10-21 22:02:08.713 INFO task_control:  [TaskControl] task exec thread exit!
2024-10-21 22:02:08.867 INFO task_control:  [TaskControl] cmd client connect waiting thread exit!
2024-10-21 22:02:08.874 INFO task_control:  [TaskControl] file client connect waiting thread exit!
2024-10-21 22:02:09.344 INFO mapOptmization:  [MapOptimization] visualizeGlobalMapThread exit!
2024-10-21 22:02:09.344 INFO mapOptmization:  [MapOptimization] loopClosureThread exit!
2024-10-21 22:02:09.344 INFO mapOptmization:  [MapOptimization] Goodbye MapOptimization! V1.7.0
2024-10-21 22:02:09.698 INFO task_control:  [MotionControl] Goodbye motion_control! V2.0.3
2024-10-21 22:02:14.653 INFO teleop_joy:  [Joy] Hello teleop_twist_joy! V3.3.0
2024-10-21 22:02:14.665 INFO base_pt100:  [BaseDiff] Hello base_pt100! V2.5.2
2024-10-21 22:02:14.704 INFO base_pt100:  [BaseDiff] -> Base Type         : - DIFF -
2024-10-21 22:02:14.704 INFO base_pt100:  [BaseDiff] -> Wheel Radius      : [ 0.240 ]
2024-10-21 22:02:14.705 INFO base_pt100:  [BaseDiff] -> Reduction Ratio   : [ 50.000 ]
2024-10-21 22:02:14.705 INFO base_pt100:  [BaseDiff] -> Base Wheelbase    : [ 1.345 ]
2024-10-21 22:02:14.705 INFO base_pt100:  [BaseDiff] -> Motor Max RPM     : [ 3000.0 ]
2024-10-21 22:02:14.705 INFO base_pt100:  [BaseDiff] -> Limit Linear Vel  : [ 1.0 ]
2024-10-21 22:02:14.705 INFO base_pt100:  [BaseDiff] -> Limit Linear W    : [ 0.5 ]
2024-10-21 22:02:14.705 INFO base_pt100:  [BaseDiff] -> Enable odom log   : [ false ]
2024-10-21 22:02:14.714 INFO base_pt100:  [BaseDiff] -> LaserP vector     : [ 0.300  0.000  0.500 ]
2024-10-21 22:02:14.714 INFO teleop_joy:  [Joy] Acc limit: 1.00
2024-10-21 22:02:14.715 INFO teleop_joy:  [Joy] Scale linear vel level: [ 0.20  0.40  0.80  1.00 ]
2024-10-21 22:02:14.719 INFO base_pt100:  [BaseDiff] -> LaserP quater     : [ 0.000  0.000  0.000  1.000 ]
2024-10-21 22:02:14.732 INFO imuPreintegration:  [IMUPreintegration] Hello IMUPreintegration! V1.7.0
2024-10-21 22:02:14.736 INFO base_pt100:  [BaseDiff] Init Socket CAN success.
2024-10-21 22:02:14.737 INFO base_pt100:  [BaseDiff] Create pThreads OK!
2024-10-21 22:02:14.744 INFO imageProjection:  [ImageProjection] Hello ImageProjection! V1.7.0
2024-10-21 22:02:14.755 INFO base_pt100:  [IMU] IMU dev '/dev/imu' connected success!
2024-10-21 22:02:14.901 INFO localization:  [Location] Hello picasso_localization! V3.3.5
2024-10-21 22:02:14.920 INFO task_control:  [TaskControl] >>>>>>>>>>   PLNS Authentication Success   <<<<<<<<<<
2024-10-21 22:02:14.921 INFO task_control:  [TaskControl] Hello task_control! V2.2.4 (Proto V1.8.1)
2024-10-21 22:02:14.952 INFO localization:  [Location] -> LaserP vector       : [ 0.300  0.000  0.500 ]
2024-10-21 22:02:14.953 INFO localization:  [Location] -> LaserP quater       : [ 0.000  0.000  0.000  1.000 ]
2024-10-21 22:02:14.954 INFO localization:  [TaskControl] -> Crop box agv     : [ -0.800  0.200  -0.400  0.400 ]
2024-10-21 22:02:14.955 INFO localization:  [Location] -> useGnss             : [ false ]
2024-10-21 22:02:14.955 INFO localization:  [Location] -> ndt_maxIterate      : [ 2 ]
2024-10-21 22:02:14.955 INFO localization:  [Location] -> ndt_tfEpsilon       : [ 0.001 ]
2024-10-21 22:02:14.955 INFO localization:  [Location] -> ndt_stepSize        : [ 0.800 ]
2024-10-21 22:02:14.956 INFO localization:  [Location] -> ndt_resolution      : [ 1.500 ]
2024-10-21 22:02:14.956 INFO localization:  [Location] -> ndt_probThreshold   : [ 5.000 ]
2024-10-21 22:02:14.956 INFO localization:  [Location] -> laserHeight         : [ 0.500 ]
2024-10-21 22:02:14.956 INFO localization:  [Location] -> regValidPerc        : [ 0.500 ]
2024-10-21 22:02:14.956 INFO localization:  [Location] -> innerBoxSize        : [ 50.000 ]
2024-10-21 22:02:14.956 INFO localization:  [Location] -> innerBoxVoxelSize   : [ 0.100 ]
2024-10-21 22:02:14.956 INFO localization:  [Location] -> cloud2dVoxelSize    : [ 0.100 ]
2024-10-21 22:02:14.956 INFO localization:  [Location] -> nMotionStopCheckSec : [ 2 ]
2024-10-21 22:02:14.957 INFO localization:  [Location] -> nLongCorrSurfaceMax : [ 3000 ]
2024-10-21 22:02:14.957 INFO localization:  [Location] -> nLongCorrCornerMax  : [ 400 ]
2024-10-21 22:02:14.957 INFO localization:  [Location] -> nLongCorrDelaySec   : [ 1 ]
2024-10-21 22:02:14.957 INFO localization:  [Location] -> resamp_num_min      : [ 400 ]
2024-10-21 22:02:14.957 INFO localization:  [Location] -> resamp_num_max      : [ 800 ]
2024-10-21 22:02:14.982 INFO featureExtraction:  [FeatureExtraction] Hello FeatureExtraction! V1.7.0
2024-10-21 22:02:14.997 INFO task_control:  [MotionControl] Hello motion_control! V2.0.4
2024-10-21 22:02:15.015 INFO mapOptmization:  [MapOptimization] Hello MapOptimization! V1.7.0
2024-10-21 22:02:15.028 INFO task_control:  [TaskControl] -> AGV Type         : - DIFF -
2024-10-21 22:02:15.028 INFO task_control:  [TaskControl] -> Lidar Type       : - VELODYNE -
2024-10-21 22:02:15.029 INFO task_control:  [TaskControl] -> LaserP vector    : [ 0.300  0.000  0.500 ]
2024-10-21 22:02:15.030 INFO task_control:  [TaskControl] -> LaserP quater    : [ 0.000  0.000  0.000  1.000 ]
2024-10-21 22:02:15.031 INFO task_control:  [TaskControl] -> Obstacle Slow    : [ 1.500 ]
2024-10-21 22:02:15.031 INFO task_control:  [TaskControl] -> Obstacle Rect    : [ 0.010  1.000  -0.500  0.500 ]
2024-10-21 22:02:15.033 INFO task_control:  [TaskControl] -> Crop box agv     : [ -0.800  0.200  -0.400  0.400 ]
2024-10-21 22:02:15.033 INFO task_control:  [MotionControl] Set controller PID para [ 0.80 0.20 5.00 0.50 0.25 0.25 ]
2024-10-21 22:02:15.033 INFO task_control:  [PathPlan] Set Path Plan para [ 0.50 0.05 ] (DistOffRoute RouteRes)
2024-10-21 22:02:15.033 INFO task_control:  [MotionControl] Set motion para [ 0.5 1.0 0.3 0.3 ]
2024-10-21 22:02:15.033 INFO task_control:  [MotionControl] Set step para [ 0.2 75 45 ] (vrt) Forward [ FALSE ]
2024-10-21 22:02:15.097 INFO task_control:  [TaskControl] Scan call threads spinner start ...
2024-10-21 22:02:15.097 INFO task_control:  [TaskControl] Init cmd TCP server success.
2024-10-21 22:02:15.097 INFO task_control:  [TaskControl] Init file TCP server success.
2024-10-21 22:02:15.294 INFO mapOptmization:  [Mapping] -> useGnss            : [ false ]
2024-10-21 22:02:15.295 INFO mapOptmization:  [Mapping] -> lidarSensorType    : [ VELODYNE ]
2024-10-21 22:02:15.295 INFO mapOptmization:  [Mapping] -> imuGyrNoise        : [ 0.001674 ]
2024-10-21 22:02:15.296 INFO mapOptmization:  [Mapping] -> imuGyrBiasN        : [ 0.000007 ]
2024-10-21 22:02:15.296 INFO mapOptmization:  [Mapping] -> imuAccNoise        : [ 0.016486 ]
2024-10-21 22:02:15.296 INFO mapOptmization:  [Mapping] -> imuAccBiasN        : [ 0.000190 ]
2024-10-21 22:02:16.098 INFO task_control:  [TaskControl] UI cmd port connect waiting ...
2024-10-21 22:02:16.098 INFO task_control:  [TaskControl] UI file port connect waiting ...
2024-10-21 22:02:16.098 INFO task_control:  [TaskControl] Create pThreads OK!
2024-10-21 22:02:16.767 INFO base_pt100:  [ESKF] Acc&G [ -0.000021 -0.000012 0.000017 ] [ 0.000000 0.000000 9.810000 ]
2024-10-21 22:02:17.284 INFO vino-server[1667]:  21/10/2024 22时02分17秒 rfbProcessClientNormalMessage: read: Connection reset by peer
2024-10-21 22:02:17.285 INFO vino-server[1667]:  21/10/2024 22时02分17秒 Client 192.168.1.142 gone
2024-10-21 22:02:17.285 INFO vino-server[1667]:  21/10/2024 22时02分17秒 Statistics:
2024-10-21 22:02:17.285 INFO vino-server[1667]:  21/10/2024 22时02分17秒   key events received 36, pointer events 196
2024-10-21 22:02:17.285 INFO vino-server[1667]:  21/10/2024 22时02分17秒   framebuffer updates 51, rectangles 64, bytes 1402816
2024-10-21 22:02:17.285 INFO vino-server[1667]:  21/10/2024 22时02分17秒     ZRLE rectangles 64, bytes 1402816
2024-10-21 22:02:17.285 INFO vino-server[1667]:  21/10/2024 22时02分17秒   raw bytes equivalent 82835405, compression ratio 59.049373
2024-10-21 22:02:18.767 INFO base_pt100:  [ESKF] Acc&G [ -0.000256 -0.000152 0.000322 ] [ 0.000003 0.000002 9.809997 ]
2024-10-21 22:02:20.767 INFO base_pt100:  [ESKF] Acc&G [ -0.000383 -0.000228 0.002031 ] [ 0.000004 0.000002 9.809980 ]
2024-10-21 22:02:22.767 INFO base_pt100:  [ESKF] Acc&G [ -0.000360 -0.000214 0.007887 ] [ 0.000004 0.000003 9.809921 ]
2024-10-21 22:02:24.767 INFO base_pt100:  [ESKF] Acc&G [ -0.000255 -0.000152 0.021759 ] [ 0.000005 0.000003 9.809782 ]
2024-10-21 22:02:26.766 INFO base_pt100:  [ESKF] Acc&G [ -0.000034 -0.000022 0.044327 ] [ 0.000006 0.000004 9.809557 ]
2024-10-21 22:02:28.767 INFO base_pt100:  [ESKF] Acc&G [ 0.000212 0.000123 0.069099 ] [ 0.000007 0.000004 9.809309 ]
2024-10-21 22:02:30.767 INFO base_pt100:  [ESKF] Acc&G [ 0.000403 0.000236 0.088241 ] [ 0.000007 0.000004 9.809117 ]
2024-10-21 22:02:32.767 INFO base_pt100:  [ESKF] Acc&G [ 0.000514 0.000302 0.099263 ] [ 0.000007 0.000004 9.809007 ]
2024-10-21 22:02:33.168 INFO task_control:  [TaskControl] NEWS -> [ 192.168.1.142 : 1273 ] SN = 0  FD = 14
2024-10-21 22:02:33.180 INFO task_control:  [TaskControl] USER -> [ admin : login ]
2024-10-21 22:02:33.186 INFO task_control:  [TaskControl] NEWS -> [ 192.168.1.142 : 1529 ] SN = 0  FD = 15 *FileTCP
2024-10-21 22:02:33.201 INFO task_control:  [TaskControl] Request vehicle basic info: PLNS V2.2.4
2024-10-21 22:02:33.202 INFO task_control:  [TaskControl] Get map.pgm  file 2024-09-06 09:34:43 : 1251KB
2024-10-21 22:02:33.202 INFO task_control:  [TaskControl] Get map.yaml file 2024-09-06 09:34:42 : 1KB
2024-10-21 22:02:33.202 INFO task_control:  [TaskControl] Get map.pcd file 2024-09-06 09:33:49 : 2412KB
2024-10-21 22:02:33.322 INFO systemd[1]:  Started Run anacron jobs.
2024-10-21 22:02:33.322 INFO systemd[1]:  Started Session 5 of user nvidia.
2024-10-21 22:02:33.331 NOTI anacron[4853]:  Anacron 2.3 started on 2024-10-21
2024-10-21 22:02:33.331 NOTI anacron[4853]:  Normal exit (0 jobs run)
2024-10-21 22:02:34.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000557 0.000327 0.103483 ] [ 0.000007 0.000004 9.808965 ]
2024-10-21 22:02:36.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000551 0.000323 0.102897 ] [ 0.000007 0.000004 9.808971 ]
2024-10-21 22:02:38.376 INFO task_control:  [TaskControl] Enable 10Hz system information send (SYS/HW/LASER)
2024-10-21 22:02:38.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000512 0.000300 0.099159 ] [ 0.000007 0.000004 9.809008 ]
2024-10-21 22:02:40.766 INFO task_control:  [TaskControl] clear wheel odom for mapping
2024-10-21 22:02:40.767 INFO base_pt100:  [ESKF] Acc&G [ 0.000455 0.000265 0.093615 ] [ 0.000007 0.000004 9.809064 ]
2024-10-21 22:02:40.770 INFO base_pt100:  [BaseDiff] cmd from task control: 0x30  ODOM_CLEAR
2024-10-21 22:02:40.774 INFO base_pt100:  [BaseDiff] cmd from task control: 0x41  ODOM_TF_CLOSE
2024-10-21 22:02:40.834 INFO mapOptmization:  [mapOptimization] cmd from task = 0x11  CMD_WEAKUP
2024-10-21 22:02:40.834 INFO task_control:  [TaskControl] Call mapping [0] cmd srv ack success
2024-10-21 22:02:40.837 INFO imageProjection:  [ImageProjection] cmd from task = 0x11  CMD_WEAKUP
2024-10-21 22:02:40.839 INFO imuPreintegration:  [TransformFusion] cmd from task = 0x11  CMD_WEAKUP
2024-10-21 22:02:40.840 INFO imuPreintegration:  [IMUPreintegration] cmd from task = 0x11  CMD_WEAKUP
2024-10-21 22:02:40.841 INFO featureExtraction:  [FeatureExtraction] cmd from task = 0x11  CMD_WEAKUP
2024-10-21 22:02:41.116 INFO mapOptmization:  [Mapping] Add new key pose [ 1 ]
2024-10-21 22:02:41.308 WARN task_control:  [TaskControl] Compressed data size: 8 >= orgial data size: 0
2024-10-21 22:02:41.308 INFO task_control:  [TaskControl] Map Compress size from 0 to 8  total: 40  nIntLen: 2
2024-10-21 22:02:42.767 INFO base_pt100:  [ESKF] Acc&G [ 0.000391 0.000227 0.087430 ] [ 0.000007 0.000004 9.809126 ]
2024-10-21 22:02:44.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000330 0.000190 0.081504 ] [ 0.000007 0.000004 9.809185 ]
2024-10-21 22:02:45.760 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:02:46.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000275 0.000157 0.076447 ] [ 0.000007 0.000004 9.809235 ]
2024-10-21 22:02:46.866 INFO mapOptmization:  [Mapping] Add new key pose [ 2 ]
2024-10-21 22:02:47.306 INFO task_control:  [TaskControl] Map Compress size from 41940 to 24939  total: 30952  nIntLen: 6235
2024-10-21 22:02:47.363 INFO mapOptmization:  [Mapping] Add new key pose [ 3 ]
2024-10-21 22:02:48.114 INFO mapOptmization:  [Mapping] Add new key pose [ 4 ]
2024-10-21 22:02:48.586 INFO mapOptmization:  [Mapping] Add new key pose [ 5 ]
2024-10-21 22:02:48.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000189 0.000216 0.072561 ] [ 0.000008 0.000003 9.809274 ]
2024-10-21 22:02:49.329 INFO mapOptmization:  [Mapping] Add new key pose [ 6 ]
2024-10-21 22:02:49.351 INFO task_control:  [TaskControl] Map Compress size from 58464 to 34276  total: 42499  nIntLen: 8569
2024-10-21 22:02:49.813 INFO mapOptmization:  [Mapping] Add new key pose [ 7 ]
2024-10-21 22:02:50.575 INFO mapOptmization:  [Mapping] Add new key pose [ 8 ]
2024-10-21 22:02:50.767 INFO base_pt100:  [ESKF] Acc&G [ -0.000033 0.000394 0.069927 ] [ 0.000008 -0.000003 9.809301 ]
2024-10-21 22:02:51.009 INFO mapOptmization:  [Mapping] Add new key pose [ 9 ]
2024-10-21 22:02:51.408 INFO task_control:  [TaskControl] Map Compress size from 64788 to 37842  total: 46886  nIntLen: 9461
2024-10-21 22:02:51.786 INFO mapOptmization:  [Mapping] Add new key pose [ 10 ]
2024-10-21 22:02:52.232 INFO mapOptmization:  [Mapping] Add new key pose [ 11 ]
2024-10-21 22:02:52.766 INFO base_pt100:  [ESKF] Acc&G [ -0.000108 0.000465 0.068446 ] [ 0.000007 -0.000004 9.809315 ]
2024-10-21 22:02:52.943 INFO mapOptmization:  [Mapping] Add new key pose [ 12 ]
2024-10-21 22:02:53.425 INFO task_control:  [TaskControl] Map Compress size from 66900 to 39094  total: 48454  nIntLen: 9774
2024-10-21 22:02:53.454 INFO mapOptmization:  [Mapping] Add new key pose [ 13 ]
2024-10-21 22:02:54.159 INFO mapOptmization:  [Mapping] Add new key pose [ 14 ]
2024-10-21 22:02:54.723 INFO mapOptmization:  [Mapping] Add new key pose [ 15 ]
2024-10-21 22:02:54.766 INFO base_pt100:  [ESKF] Acc&G [ -0.000056 0.000519 0.067969 ] [ 0.000009 0.000001 9.809320 ]
2024-10-21 22:02:55.339 INFO mapOptmization:  [Mapping] Add new key pose [ 16 ]
2024-10-21 22:02:55.446 INFO task_control:  [TaskControl] Map Compress size from 84876 to 49656  total: 61566  nIntLen: 12414
2024-10-21 22:02:55.928 INFO mapOptmization:  [Mapping] Add new key pose [ 17 ]
2024-10-21 22:02:56.561 INFO mapOptmization:  [Mapping] Add new key pose [ 18 ]
2024-10-21 22:02:56.766 INFO base_pt100:  [ESKF] Acc&G [ -0.000049 0.000542 0.068257 ] [ 0.000015 0.000008 9.809317 ]
2024-10-21 22:02:57.085 INFO mapOptmization:  [Mapping] Add new key pose [ 19 ]
2024-10-21 22:02:57.495 INFO task_control:  [TaskControl] Map Compress size from 87168 to 50868  total: 63085  nIntLen: 12717
2024-10-21 22:02:57.742 INFO mapOptmization:  [Mapping] Add new key pose [ 20 ]
2024-10-21 22:02:58.404 INFO mapOptmization:  [Mapping] Add new key pose [ 21 ]
2024-10-21 22:02:58.766 INFO base_pt100:  [ESKF] Acc&G [ -0.000041 0.000547 0.069092 ] [ 0.000017 0.000009 9.809309 ]
2024-10-21 22:02:58.923 INFO mapOptmization:  [Mapping] Add new key pose [ 22 ]
2024-10-21 22:02:59.332 INFO task_control:  [TaskControl] Map Compress size from 86652 to 50640  total: 62777  nIntLen: 12660
2024-10-21 22:02:59.604 INFO mapOptmization:  [Mapping] Add new key pose [ 23 ]
2024-10-21 22:03:00.143 INFO mapOptmization:  [Mapping] Add new key pose [ 24 ]
2024-10-21 22:03:00.708 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:03:00.766 INFO base_pt100:  [ESKF] Acc&G [ -0.000007 0.000550 0.070277 ] [ 0.000012 0.000003 9.809297 ]
2024-10-21 22:03:00.794 INFO mapOptmization:  [Mapping] Add new key pose [ 25 ]
2024-10-21 22:03:01.392 INFO task_control:  [TaskControl] Map Compress size from 97068 to 56604  total: 70132  nIntLen: 14151
2024-10-21 22:03:02.766 INFO base_pt100:  [ESKF] Acc&G [ -0.000023 0.000575 0.071632 ] [ 0.000002 -0.000001 9.809283 ]
2024-10-21 22:03:04.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000033 0.000861 0.072979 ] [ 0.000008 0.000001 9.809270 ]
2024-10-21 22:03:06.463 INFO mapOptmization:  [mapOptimization] cmd from task = 0x22  CMD_SAVE_MAP
2024-10-21 22:03:06.463 INFO mapOptmization:  [Mapping] ****************************************************************
2024-10-21 22:03:06.463 INFO mapOptmization:  [Mapping] Saving map file...
2024-10-21 22:03:06.479 INFO mapOptmization:  [Mapping] Get global map cloud size: 14519 + 173505
2024-10-21 22:03:06.509 INFO mapOptmization:  [Mapping] Get global map DS cloud size: 9067 + 91090
2024-10-21 22:03:06.511 INFO mapOptmization:  [Mapping] Save key frame size: 25
2024-10-21 22:03:06.512 INFO mapOptmization:  [Mapping] /catkin_ws/src/AlphaX_ros/alphax_navigation/maps/map.pcd
2024-10-21 22:03:06.520 INFO mapOptmization:  [Mapping] Saving PCD map & Trajectory completed: 100157
2024-10-21 22:03:06.520 INFO mapOptmization:  [Mapping] ****************************************************************
2024-10-21 22:03:06.523 INFO mapOptmization:  [PCD2PGM] Cloud after pass Z filter(0.50): 73982
2024-10-21 22:03:06.530 INFO mapOptmization:  [PCD2PGM] Cloud after VoxelGrid(0.04): 29258
2024-10-21 22:03:06.612 INFO mapOptmization:  [PCD2PGM] Cloud after RadiusFilter(0.20 5): 28765
2024-10-21 22:03:06.613 INFO mapOptmization:  [PCD2PGM] Received a 621 X 673 map @ 0.050 m/pix
2024-10-21 22:03:06.613 INFO mapOptmization:  [PCD2PGM] Save pgm file: map.pgm
2024-10-21 22:03:06.624 INFO mapOptmization:  [PCD2PGM] Save yaml file: map.yaml
2024-10-21 22:03:06.624 INFO mapOptmization:  [PCD2PGM] Map PCD to PGM Done.
2024-10-21 22:03:06.624 INFO mapOptmization:  [Mapping] ****************************************************************
2024-10-21 22:03:06.634 INFO mapOptmization:  [Grid] Create cloud point down complete!
2024-10-21 22:03:06.663 INFO mapOptmization:  [Grid] Amcl map cloud size: 3472
2024-10-21 22:03:06.667 INFO mapOptmization:  [Grid] OctoMap creat a 311 X 337 X 1 map @ 0.100 m/pix
2024-10-21 22:03:06.681 INFO mapOptmization:  [Grid] Save pgm file: costmap.pgm
2024-10-21 22:03:06.681 INFO mapOptmization:  [Grid] Save yaml file: costmap.yaml
2024-10-21 22:03:06.681 INFO mapOptmization:  [Grid] OctoMap grid to PGM Done.
2024-10-21 22:03:06.681 INFO mapOptmization:  [PCD2PGM] Map save exe time: 0.2s
2024-10-21 22:03:06.681 INFO mapOptmization:  [Mapping] ****************************************************************
2024-10-21 22:03:06.682 INFO task_control:  [TaskControl] Call mapping [0] cmd srv ack success
2024-10-21 22:03:06.683 INFO imageProjection:  [ImageProjection] cmd from task = 0x22  CMD_SAVE_MAP
2024-10-21 22:03:06.686 INFO imuPreintegration:  [TransformFusion] cmd from task = 0x22  CMD_SAVE_MAP
2024-10-21 22:03:06.687 INFO imuPreintegration:  [IMUPreintegration] cmd from task = 0x22  CMD_SAVE_MAP
2024-10-21 22:03:06.688 INFO featureExtraction:  [FeatureExtraction] cmd from task = 0x22  CMD_SAVE_MAP
2024-10-21 22:03:06.705 INFO task_control:  [TaskControl] No thread named (rviz) is running
2024-10-21 22:03:06.707 INFO base_pt100:  [BaseDiff] cmd from task control: 0x40  ODOM_TF_PUB
2024-10-21 22:03:06.707 INFO task_control:  [TaskControl] clear wheel odom for mapping
2024-10-21 22:03:06.708 INFO base_pt100:  [BaseDiff] cmd from task control: 0x30  ODOM_CLEAR
2024-10-21 22:03:06.710 INFO localization:  [Location] cmd from task = 0x12  CMD_RELOAD_MAP
2024-10-21 22:03:06.710 INFO task_control:  [TaskControl] Set picasso localization app [ Weakup ]
2024-10-21 22:03:06.711 INFO localization:  [Location] cmd from task = 0x11  CMD_WEAKUP
2024-10-21 22:03:06.711 INFO localization:  [Location] Map pcd file set: /home/nvidia/catkin_ws/src/AlphaX_ros/alphax_navigation/maps/map.pcd
2024-10-21 22:03:06.714 INFO localization:  [Location] Map pcd cloud points size: 100157
2024-10-21 22:03:06.764 INFO localization:  [Location] Map plane cloud points size: 3513
2024-10-21 22:03:06.764 INFO localization:  [AMCL] Read a 311 X 337 X 1 cost map @ 0.100 m/pix  total: 104807
2024-10-21 22:03:06.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000233 0.001319 0.074215 ] [ 0.000017 -0.000005 9.809258 ]
2024-10-21 22:03:06.766 INFO localization:  [Location] Map cloud load and filters initial success!
2024-10-21 22:03:06.767 INFO mapOptmization:  [mapOptimization] cmd from task = 0x33  CMD_FEATURE_EXTRA
2024-10-21 22:03:06.767 INFO task_control:  [TaskControl] Call mapping [0] cmd srv ack success
2024-10-21 22:03:06.769 INFO imageProjection:  [ImageProjection] cmd from task = 0x33  CMD_FEATURE_EXTRA
2024-10-21 22:03:06.769 INFO imageProjection:  [ImageProjection] localizer feature extra exe set: [ true ]
2024-10-21 22:03:06.770 INFO imuPreintegration:  [TransformFusion] cmd from task = 0x33  CMD_FEATURE_EXTRA
2024-10-21 22:03:06.771 INFO imuPreintegration:  [IMUPreintegration] cmd from task = 0x33  CMD_FEATURE_EXTRA
2024-10-21 22:03:06.773 INFO featureExtraction:  [FeatureExtraction] cmd from task = 0x33  CMD_FEATURE_EXTRA
2024-10-21 22:03:06.773 INFO featureExtraction:  [FeatureExtraction] localizer feature extra exe set: [ true ]
2024-10-21 22:03:06.773 INFO task_control:  [TaskControl] Set initial pose: [ -0.307  -0.057  0.460 ]
2024-10-21 22:03:06.773 INFO task_control:  [TaskControl] Stop Picasso Mapping ...
2024-10-21 22:03:06.773 INFO localization:  [Location] Get initial pose: [ -0.307  -0.057  0.460 ]
2024-10-21 22:03:06.797 INFO localization:  [Location] Get init base pose from manual: [ -0.307  -0.057  0.460 ]
2024-10-21 22:03:06.823 INFO localization:  [Location] ReLocalization trigger once. KF state [ -0.307 -0.057 0.460 ]
2024-10-21 22:03:06.931 INFO localization:  [Location] Reg prob: 2.411  iter: 4  cloudN: 5780  mapN: 3513  prob: 0.999  exeT: 149.1
2024-10-21 22:03:07.047 INFO localization:  [Location] Reg prob: 2.411  iter: 4  cloudN: 5731  mapN: 3513  prob: 0.999  exeT: 115.8
2024-10-21 22:03:07.193 INFO localization:  [Location] Reg prob: 2.409  iter: 4  cloudN: 5777  mapN: 3513  prob: 0.999  exeT: 145.5
2024-10-21 22:03:07.322 INFO localization:  [Location] Reg prob: 2.407  iter: 4  cloudN: 5760  mapN: 3513  prob: 0.998  exeT: 128.0
2024-10-21 22:03:07.322 ERR localization:  [Location] Location error: no odom info, base error [ 0 ]
2024-10-21 22:03:07.431 INFO localization:  [Location] Reg prob: 2.408  iter: 3  cloudN: 5727  mapN: 3513  prob: 0.999  exeT: 108.3
2024-10-21 22:03:07.550 INFO localization:  [Location] Reg prob: 2.407  iter: 4  cloudN: 5794  mapN: 3513  prob: 0.999  exeT: 119.1
2024-10-21 22:03:07.660 INFO localization:  [Location] Reg prob: 2.411  iter: 3  cloudN: 5748  mapN: 3513  prob: 0.999  exeT: 108.9
2024-10-21 22:03:07.776 INFO localization:  [Location] Reg prob: 2.410  iter: 3  cloudN: 5773  mapN: 3513  prob: 0.999  exeT: 116.1
2024-10-21 22:03:07.892 INFO localization:  [Location] Reg prob: 2.412  iter: 3  cloudN: 5753  mapN: 3513  prob: 0.999  exeT: 115.0
2024-10-21 22:03:08.010 INFO localization:  [Location] Reg prob: 2.408  iter: 4  cloudN: 5770  mapN: 3513  prob: 0.999  exeT: 117.9
2024-10-21 22:03:08.039 INFO task_control:  [TaskControl] Get map.pgm  file 2024-10-21 22:03:06 : 409KB
2024-10-21 22:03:08.039 INFO task_control:  [TaskControl] Get map.yaml file 2024-10-21 22:03:06 : 1KB
2024-10-21 22:03:08.039 INFO task_control:  [TaskControl] Get map.pcd file 2024-10-21 22:03:06 : 1569KB
2024-10-21 22:03:08.122 INFO localization:  [Location] Reg prob: 2.416  iter: 4  cloudN: 5748  mapN: 3513  prob: 0.999  exeT: 111.2
2024-10-21 22:03:08.251 INFO localization:  [Location] Reg prob: 2.412  iter: 4  cloudN: 5841  mapN: 3513  prob: 0.999  exeT: 128.8
2024-10-21 22:03:08.366 INFO localization:  [Location] Reg prob: 2.417  iter: 4  cloudN: 5803  mapN: 3513  prob: 0.999  exeT: 114.1
2024-10-21 22:03:08.488 INFO localization:  [Location] Reg prob: 2.413  iter: 4  cloudN: 5813  mapN: 3513  prob: 0.999  exeT: 121.3
2024-10-21 22:03:08.589 INFO localization:  [Location] Reg prob: 2.408  iter: 3  cloudN: 5765  mapN: 3513  prob: 0.999  exeT: 101.0
2024-10-21 22:03:08.718 INFO localization:  [Location] Reg prob: 2.411  iter: 4  cloudN: 5735  mapN: 3513  prob: 0.999  exeT: 121.1
2024-10-21 22:03:08.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000326 0.001534 0.075305 ] [ 0.000020 -0.000009 9.809247 ]
2024-10-21 22:03:08.845 INFO localization:  [Location] Reg prob: 2.414  iter: 4  cloudN: 5785  mapN: 3513  prob: 0.998  exeT: 126.4
2024-10-21 22:03:08.964 INFO localization:  [Location] Reg prob: 2.415  iter: 4  cloudN: 5776  mapN: 3513  prob: 0.999  exeT: 119.3
2024-10-21 22:03:09.100 INFO localization:  [Location] Reg prob: 2.413  iter: 4  cloudN: 5766  mapN: 3513  prob: 0.999  exeT: 134.6
2024-10-21 22:03:09.227 INFO localization:  [Location] Reg prob: 2.414  iter: 3  cloudN: 5746  mapN: 3513  prob: 0.999  exeT: 127.7
2024-10-21 22:03:09.352 INFO localization:  [Location] Reg prob: 2.413  iter: 4  cloudN: 5787  mapN: 3513  prob: 0.999  exeT: 123.9
2024-10-21 22:03:09.483 INFO localization:  [Location] Reg prob: 2.409  iter: 4  cloudN: 5752  mapN: 3513  prob: 0.999  exeT: 131.0
2024-10-21 22:03:09.587 INFO localization:  [Location] Reg prob: 2.409  iter: 4  cloudN: 5802  mapN: 3513  prob: 0.998  exeT: 103.2
2024-10-21 22:03:09.711 INFO localization:  [Location] Reg prob: 2.420  iter: 3  cloudN: 5839  mapN: 3513  prob: 0.999  exeT: 123.7
2024-10-21 22:03:09.817 INFO localization:  [Location] Reg prob: 2.410  iter: 3  cloudN: 5767  mapN: 3513  prob: 0.999  exeT: 105.9
2024-10-21 22:03:10.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000332 0.001566 0.076188 ] [ 0.000020 -0.000010 9.809238 ]
2024-10-21 22:03:12.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000333 0.001574 0.076823 ] [ 0.000020 -0.000010 9.809231 ]
2024-10-21 22:03:14.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000336 0.001583 0.077219 ] [ 0.000021 -0.000010 9.809228 ]
2024-10-21 22:03:15.162 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:03:16.087 WARN task_control:  message repeated 29 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:03:16.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000337 0.001586 0.077426 ] [ 0.000021 -0.000010 9.809225 ]
2024-10-21 22:03:18.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000337 0.001587 0.077493 ] [ 0.000021 -0.000010 9.809225 ]
2024-10-21 22:03:20.765 INFO base_pt100:  [ESKF] Acc&G [ 0.000337 0.001587 0.077446 ] [ 0.000021 -0.000010 9.809225 ]
2024-10-21 22:03:22.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000337 0.001586 0.077340 ] [ 0.000021 -0.000010 9.809226 ]
2024-10-21 22:03:24.765 INFO base_pt100:  [ESKF] Acc&G [ 0.000336 0.001585 0.077215 ] [ 0.000021 -0.000010 9.809228 ]
2024-10-21 22:03:26.765 INFO base_pt100:  [ESKF] Acc&G [ 0.000336 0.001584 0.077100 ] [ 0.000021 -0.000010 9.809229 ]
2024-10-21 22:03:28.765 INFO base_pt100:  [ESKF] Acc&G [ 0.000335 0.001584 0.076982 ] [ 0.000021 -0.000010 9.809230 ]
2024-10-21 22:03:30.766 INFO base_pt100:  [ESKF] Acc&G [ 0.000334 0.001583 0.076838 ] [ 0.000021 -0.000010 9.809231 ]
2024-10-21 22:03:32.765 INFO base_pt100:  [ESKF] Acc&G [ 0.000333 0.001582 0.076712 ] [ 0.000021 -0.000010 9.809233 ]
2024-10-21 22:03:34.765 INFO base_pt100:  [ESKF] Acc&G [ 0.000333 0.001581 0.076592 ] [ 0.000021 -0.000010 9.809234 ]
2024-10-21 22:03:36.765 INFO base_pt100:  [ESKF] Acc&G [ 0.000332 0.001581 0.076504 ] [ 0.000021 -0.000010 9.809235 ]
2024-10-21 22:03:37.605 INFO base_pt100:  [ESKF] IMU calibration success! Acc bias [ 0.000332 0.001580 0.076472 ]
2024-10-21 22:03:39.882 INFO task_control:  [TaskControl] Set *auto nav control* mode
2024-10-21 22:03:41.514 INFO task_control:  [TaskControl] Set *manual control* mode
2024-10-21 22:03:41.532 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:03:41.532 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:03:41.552 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:03:41.552 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:03:41.572 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:03:41.572 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:03:41.592 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:03:41.592 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:03:41.612 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:03:41.612 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:03:42.448 INFO task_control:  [TaskControl] Set *auto nav control* mode
2024-10-21 22:03:44.061 INFO task_control:  [TaskControl] Set *manual control* mode
2024-10-21 22:03:44.065 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:03:44.065 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:03:44.085 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:03:44.085 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:03:44.105 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:03:44.106 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:03:44.126 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:03:44.126 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:03:44.146 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:03:44.146 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:03.042 INFO task_control:  [TaskControl] Set *auto nav control* mode
2024-10-21 22:04:05.587 INFO task_control:  [TaskControl] Import map file: map has been fixed need reload
2024-10-21 22:04:13.559 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:14.668 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:14.668 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:14.767 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:14.769 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:14.869 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:14.872 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:14.969 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:14.972 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:15.069 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:15.072 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:15.169 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:15.176 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:15.270 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:15.271 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:15.370 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:15.383 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:16.078 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:16.171 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:16.184 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:16.271 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:16.280 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:16.371 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:16.392 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:16.472 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:16.489 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:16.572 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:16.582 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:16.672 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:16.691 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:16.772 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:16.784 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:17.192 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:17.273 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:17.290 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:17.373 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:17.396 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:17.473 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:17.490 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:17.573 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:17.593 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:17.674 WARN task_control:  [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable
2024-10-21 22:04:17.692 WARN task_control:  message repeated 2 times: [ [TaskControl] [0] send data error, ret: -1, errno: 11 Resource temporarily unavailable]
2024-10-21 22:04:24.816 INFO task_control:  [TaskControl] New movement task cmd arrive once
2024-10-21 22:04:24.817 INFO task_control:  [TaskQueue] Load nav map pgm file successfully
2024-10-21 22:04:24.818 INFO task_control:  [TaskQueue] Load route net json file successfully
2024-10-21 22:04:24.818 INFO task_control:  [TaskQueue] ++ New movement task <TO_STATION> goal stations num: 1
2024-10-21 22:04:24.818 INFO task_control:  [TaskQueue]    New goal station ID [ 2 ]
2024-10-21 22:04:24.819 INFO task_control:  [TaskQueue] New task plan <TO_STATION> to goal station: [ 2 ]
2024-10-21 22:04:24.819 INFO task_control:  [PathPlan] start pos at node: 1
2024-10-21 22:04:24.819 INFO task_control:  [PathPlan] Route [ 0 ] 1 -> 2  length: 1.514
2024-10-21 22:04:24.819 INFO task_control:  [MotionControl] step | i | type | si | n | dir | obst
2024-10-21 22:04:24.819 INFO task_control:  [MotionControl] step [ 0 ]   r    0    1    0    1.0
2024-10-21 22:04:24.819 INFO task_control:  [MotionControl] step [ 1 ]   p    1    1    1    1.5
2024-10-21 22:04:24.819 INFO task_control:  [TaskQueue] !!! New Task Plan OK. [ MOTION_TASK ] ... Start Moving !!!
2024-10-21 22:04:25.073 INFO localization:  [Location] Reg prob: 2.358  iter: 3  cloudN: 5799  mapN: 3513  prob: 0.977  exeT: 124.0
2024-10-21 22:04:25.186 INFO localization:  [Location] Reg prob: 2.364  iter: 4  cloudN: 5847  mapN: 3513  prob: 0.977  exeT: 112.7
2024-10-21 22:04:25.303 INFO localization:  [Location] Reg prob: 2.362  iter: 4  cloudN: 5802  mapN: 3513  prob: 0.976  exeT: 116.8
2024-10-21 22:04:25.443 INFO localization:  [Location] Reg prob: 2.357  iter: 4  cloudN: 5831  mapN: 3513  prob: 0.975  exeT: 139.4
2024-10-21 22:04:25.572 INFO localization:  [Location] Reg prob: 2.345  iter: 3  cloudN: 5900  mapN: 3513  prob: 0.976  exeT: 128.4
2024-10-21 22:04:25.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:25.590 INFO task_control:  [TaskControl] Emergency stop trigger once!
2024-10-21 22:04:25.591 INFO base_pt100:  [BaseDiff] cmd from task control: 0x11  EMERGENCY_STOP
2024-10-21 22:04:25.639 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:25.645 WARN task_control:  [TaskControl] Fault trigger: base driver brake
2024-10-21 22:04:25.677 INFO localization:  [Location] Reg prob: 2.348  iter: 3  cloudN: 5806  mapN: 3513  prob: 0.974  exeT: 104.2
2024-10-21 22:04:25.798 INFO localization:  [Location] Reg prob: 2.353  iter: 4  cloudN: 5749  mapN: 3513  prob: 0.972  exeT: 121.0
2024-10-21 22:04:25.925 INFO localization:  [Location] Reg prob: 2.361  iter: 4  cloudN: 5801  mapN: 3513  prob: 0.974  exeT: 126.6
2024-10-21 22:04:26.041 INFO localization:  [Location] Reg prob: 2.363  iter: 4  cloudN: 5797  mapN: 3513  prob: 0.973  exeT: 116.1
2024-10-21 22:04:26.090 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:26.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:26.190 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:26.191 INFO localization:  [Location] Reg prob: 2.359  iter: 4  cloudN: 5786  mapN: 3513  prob: 0.974  exeT: 133.8
2024-10-21 22:04:26.328 INFO localization:  [Location] Reg prob: 2.361  iter: 4  cloudN: 5792  mapN: 3513  prob: 0.973  exeT: 137.0
2024-10-21 22:04:26.449 INFO localization:  [Location] Reg prob: 2.359  iter: 4  cloudN: 5748  mapN: 3513  prob: 0.974  exeT: 120.4
2024-10-21 22:04:26.561 INFO localization:  [Location] Reg prob: 2.358  iter: 4  cloudN: 5788  mapN: 3513  prob: 0.973  exeT: 111.2
2024-10-21 22:04:26.675 INFO localization:  [Location] Reg prob: 2.361  iter: 4  cloudN: 5801  mapN: 3513  prob: 0.973  exeT: 113.4
2024-10-21 22:04:26.803 INFO localization:  [Location] Reg prob: 2.357  iter: 4  cloudN: 5799  mapN: 3513  prob: 0.973  exeT: 127.7
2024-10-21 22:04:26.924 INFO localization:  [Location] Reg prob: 2.359  iter: 4  cloudN: 5799  mapN: 3513  prob: 0.974  exeT: 120.4
2024-10-21 22:04:27.036 INFO localization:  [Location] Reg prob: 2.357  iter: 4  cloudN: 5832  mapN: 3513  prob: 0.974  exeT: 111.5
2024-10-21 22:04:27.155 INFO localization:  [Location] Reg prob: 2.356  iter: 4  cloudN: 5833  mapN: 3513  prob: 0.973  exeT: 118.3
2024-10-21 22:04:27.285 INFO localization:  [Location] Reg prob: 2.359  iter: 4  cloudN: 5833  mapN: 3513  prob: 0.976  exeT: 129.9
2024-10-21 22:04:27.410 INFO localization:  [Location] Reg prob: 2.357  iter: 4  cloudN: 5853  mapN: 3513  prob: 0.976  exeT: 124.8
2024-10-21 22:04:27.523 INFO localization:  [Location] Reg prob: 2.369  iter: 4  cloudN: 5771  mapN: 3513  prob: 0.979  exeT: 112.4
2024-10-21 22:04:27.540 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:27.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:27.640 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:27.643 INFO localization:  [Location] Reg prob: 2.366  iter: 4  cloudN: 5819  mapN: 3513  prob: 0.976  exeT: 120.1
2024-10-21 22:04:27.761 INFO localization:  [Location] Reg prob: 2.364  iter: 3  cloudN: 5809  mapN: 3513  prob: 0.978  exeT: 116.9
2024-10-21 22:04:27.885 INFO localization:  [Location] Reg prob: 2.361  iter: 4  cloudN: 5804  mapN: 3513  prob: 0.978  exeT: 123.7
2024-10-21 22:04:28.004 INFO localization:  [Location] Reg prob: 2.364  iter: 4  cloudN: 5793  mapN: 3513  prob: 0.977  exeT: 119.4
2024-10-21 22:04:28.144 INFO localization:  [Location] Reg prob: 2.366  iter: 4  cloudN: 5803  mapN: 3513  prob: 0.978  exeT: 139.4
2024-10-21 22:04:28.179 INFO localization:  [Location] Location check motion stopped, delay cnt: 20 [1729519468.2]
2024-10-21 22:04:28.189 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:28.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:28.273 INFO localization:  [Location] Reg prob: 2.367  iter: 3  cloudN: 5773  mapN: 3513  prob: 0.979  exeT: 128.5
2024-10-21 22:04:28.339 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:28.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:28.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:28.490 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:28.540 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:28.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:28.639 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:28.689 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:28.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:28.790 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:28.839 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:28.890 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:28.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:28.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.040 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.090 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.190 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.290 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.339 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.393 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.489 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.539 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.590 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.639 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.690 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.790 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.839 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.889 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:29.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.090 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.189 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.290 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.339 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.440 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.490 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.539 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.640 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.690 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.789 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.839 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.889 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:30.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.089 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.189 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.289 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.339 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.489 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.539 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.639 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.690 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.789 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.839 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.890 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:31.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.090 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.189 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.290 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.339 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.390 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.489 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.540 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.639 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.690 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.741 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.789 ERR task_control:  [TaskControl] Error: location error (0.9), auto nav emergency stop
2024-10-21 22:04:32.839 ERR task_control:  [TaskControl] Error: location error (0.9), auto nav emergency stop
2024-10-21 22:04:32.889 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:32.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.090 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.189 ERR task_control:  message repeated 2 times: [ [TaskControl] Error: location error (1.0), auto nav emergency stop]
2024-10-21 22:04:33.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.289 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.339 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.440 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.490 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.539 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.639 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.689 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.740 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.790 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.839 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.889 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.940 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:33.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.089 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.189 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.240 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.289 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.340 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.390 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.440 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.489 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.540 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.640 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.690 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.740 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.789 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.840 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.890 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.940 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:34.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.040 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.089 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.140 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.189 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.240 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.290 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.340 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.440 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.489 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.539 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.641 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.690 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.790 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.839 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.889 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:35.990 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.089 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.189 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.289 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.339 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.390 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.489 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.539 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.639 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.689 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.740 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.789 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.840 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.889 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:36.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.090 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.140 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.189 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.289 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.340 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.390 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.489 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.539 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.590 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.640 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.690 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.740 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.789 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.840 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.889 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:37.990 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.089 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.140 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.190 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.290 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.339 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.490 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.539 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.639 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.689 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.790 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.839 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.890 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:38.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.040 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.090 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.190 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.289 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.339 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.390 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.490 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.539 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.590 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.639 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.689 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.740 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.790 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.839 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.889 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.940 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:39.990 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.089 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.190 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.289 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.340 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.490 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.539 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.590 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.639 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.689 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.790 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.839 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.890 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.940 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:40.990 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.090 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.190 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.240 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.290 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.339 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.490 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.540 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.590 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.639 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.689 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.790 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.839 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.889 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:41.990 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.089 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.140 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.190 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.289 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.340 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.439 ERR task_control:  message repeated 2 times: [ [TaskControl] Error: location error (1.0), auto nav emergency stop]
2024-10-21 22:04:42.489 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.539 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.639 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.690 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.790 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.839 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.890 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.940 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:42.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.040 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.089 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.189 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.240 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.289 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.339 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.390 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.489 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.539 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.590 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.639 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.689 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.789 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.840 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.889 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:43.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.091 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.140 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.189 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.289 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.339 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.489 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.539 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.640 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.689 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.789 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.839 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.889 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:44.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.089 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.140 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.189 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.289 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.339 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.489 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.540 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.640 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.689 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.790 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.840 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.889 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:45.990 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.040 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.089 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.190 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.240 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.289 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.339 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.440 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.490 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.540 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.640 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.689 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.789 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.840 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.889 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.940 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:46.990 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.040 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.089 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.141 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.189 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.240 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.289 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.344 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.440 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.489 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.540 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.640 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.690 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.740 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.789 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.839 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.889 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.940 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:47.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.089 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.189 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.290 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.340 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.489 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.540 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.590 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.640 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.689 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.789 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.840 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.890 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:48.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.090 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.140 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.190 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.239 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.290 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.340 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.441 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.489 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.540 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.639 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.689 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.740 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.789 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.839 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.889 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:49.990 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.090 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.189 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.240 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.289 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.340 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.489 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.539 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.590 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.639 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.689 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.789 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.840 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.890 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:50.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.040 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.090 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.190 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.290 ERR task_control:  message repeated 2 times: [ [TaskControl] Error: location error (1.0), auto nav emergency stop]
2024-10-21 22:04:51.340 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.389 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.439 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.490 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.539 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.589 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.640 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.690 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.739 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.789 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.839 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.890 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.939 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:51.989 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:52.039 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:04:52.045 INFO task_control:  [TaskControl] Set *manual control* mode
2024-10-21 22:04:52.054 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:52.054 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:52.074 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:52.074 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:52.094 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:52.094 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:52.114 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:52.114 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:52.134 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:52.135 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:54.004 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:54.064 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:54.084 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:54.084 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:54.104 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:54.124 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:54.144 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:54.145 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:54.165 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:54.165 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:54.185 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:54.185 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:54.205 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:54.205 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:54.225 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:54.225 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:54.245 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:54.245 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:54.265 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:54.265 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:54.988 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.009 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.029 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.029 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.049 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.069 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.089 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.090 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.110 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.110 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.130 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.130 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.150 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.150 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.170 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.170 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.190 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.190 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.210 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.210 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.230 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.231 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.713 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.733 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.753 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.753 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.773 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.774 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.794 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.834 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.854 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.854 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.874 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.894 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.914 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.915 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.935 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.935 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.955 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.955 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.975 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.975 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:55.995 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:55.995 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.016 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.016 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.035 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.036 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.056 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.056 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.176 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.196 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.217 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.237 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.257 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.318 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.338 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.338 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.358 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.358 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.378 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.378 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.398 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.399 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.419 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.419 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.439 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.439 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.459 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.459 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.479 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.479 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.620 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.660 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.680 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.721 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.741 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.741 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.761 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.781 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.801 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.801 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.821 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.822 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.842 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.842 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.862 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.862 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.882 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.882 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.902 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.902 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.922 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.922 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.942 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:56.943 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:56.962 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:57.043 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:57.063 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:57.063 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:57.083 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:57.083 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:57.104 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:57.104 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:57.124 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:57.124 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:57.144 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:57.144 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:57.164 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:57.164 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:57.184 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:57.184 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:57.204 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:04:57.204 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:04:59.513 INFO task_control:  [TaskControl] Manual cmd emergency cancel
2024-10-21 22:04:59.514 INFO base_pt100:  [BaseDiff] cmd from task control: 0x12  EMERGENCY_CANCEL
2024-10-21 22:05:01.447 INFO task_control:  [TaskControl] Manual operation cmd_vel publish start
2024-10-21 22:05:01.805 INFO localization:  [Location] Reg prob: 2.350  iter: 4  cloudN: 5688  mapN: 3513  prob: 0.976  exeT: 145.0
2024-10-21 22:05:01.916 INFO localization:  [Location] Reg prob: 2.319  iter: 4  cloudN: 5651  mapN: 3513  prob: 0.976  exeT: 109.9
2024-10-21 22:05:02.006 INFO localization:  [Location] Reg prob: 2.300  iter: 4  cloudN: 5619  mapN: 3513  prob: 0.973  exeT: 90.5
2024-10-21 22:05:02.029 INFO task_control:  [TaskControl] Manual operation cmd_vel publish stopped
2024-10-21 22:05:02.132 INFO localization:  [Location] Reg prob: 2.328  iter: 4  cloudN: 5700  mapN: 3513  prob: 0.972  exeT: 125.0
2024-10-21 22:05:02.250 INFO localization:  [Location] Reg prob: 2.353  iter: 4  cloudN: 5549  mapN: 3513  prob: 0.970  exeT: 117.4
2024-10-21 22:05:02.354 INFO localization:  [Location] Reg prob: 2.352  iter: 4  cloudN: 5544  mapN: 3513  prob: 0.970  exeT: 104.0
2024-10-21 22:05:02.454 INFO localization:  [Location] Reg prob: 2.352  iter: 4  cloudN: 5522  mapN: 3513  prob: 0.972  exeT: 99.8
2024-10-21 22:05:02.551 INFO localization:  [Location] Reg prob: 2.357  iter: 4  cloudN: 5552  mapN: 3513  prob: 0.970  exeT: 96.1
2024-10-21 22:05:02.652 INFO localization:  [Location] Reg prob: 2.350  iter: 4  cloudN: 5545  mapN: 3513  prob: 0.969  exeT: 101.1
2024-10-21 22:05:02.752 INFO localization:  [Location] Reg prob: 2.349  iter: 4  cloudN: 5544  mapN: 3513  prob: 0.968  exeT: 99.1
2024-10-21 22:05:02.854 INFO localization:  [Location] Reg prob: 2.349  iter: 4  cloudN: 5560  mapN: 3513  prob: 0.966  exeT: 101.2
2024-10-21 22:05:02.961 INFO localization:  [Location] Reg prob: 2.343  iter: 4  cloudN: 5523  mapN: 3513  prob: 0.965  exeT: 106.8
2024-10-21 22:05:03.063 INFO localization:  [Location] Reg prob: 2.340  iter: 4  cloudN: 5540  mapN: 3513  prob: 0.963  exeT: 102.3
2024-10-21 22:05:03.164 INFO localization:  [Location] Reg prob: 2.337  iter: 4  cloudN: 5515  mapN: 3513  prob: 0.962  exeT: 100.2
2024-10-21 22:05:03.271 INFO localization:  [Location] Reg prob: 2.340  iter: 4  cloudN: 5506  mapN: 3513  prob: 0.964  exeT: 107.0
2024-10-21 22:05:03.371 INFO localization:  [Location] Reg prob: 2.337  iter: 4  cloudN: 5532  mapN: 3513  prob: 0.963  exeT: 99.2
2024-10-21 22:05:03.470 INFO localization:  [Location] Reg prob: 2.336  iter: 4  cloudN: 5550  mapN: 3513  prob: 0.963  exeT: 98.3
2024-10-21 22:05:03.575 INFO localization:  [Location] Reg prob: 2.340  iter: 4  cloudN: 5496  mapN: 3513  prob: 0.963  exeT: 104.6
2024-10-21 22:05:03.680 INFO localization:  [Location] Reg prob: 2.336  iter: 4  cloudN: 5566  mapN: 3513  prob: 0.965  exeT: 104.9
2024-10-21 22:05:03.792 INFO localization:  [Location] Reg prob: 2.340  iter: 4  cloudN: 5520  mapN: 3513  prob: 0.964  exeT: 111.5
2024-10-21 22:05:03.889 INFO localization:  [Location] Reg prob: 2.335  iter: 4  cloudN: 5560  mapN: 3513  prob: 0.964  exeT: 95.2
2024-10-21 22:05:03.990 INFO localization:  [Location] Reg prob: 2.344  iter: 4  cloudN: 5504  mapN: 3513  prob: 0.965  exeT: 101.2
2024-10-21 22:05:04.017 INFO localization:  [Location] Location check motion stopped, delay cnt: 20 [1729519504.0]
2024-10-21 22:05:04.089 INFO localization:  [Location] Reg prob: 2.341  iter: 4  cloudN: 5531  mapN: 3513  prob: 0.965  exeT: 98.5
2024-10-21 22:05:04.610 INFO task_control:  [TaskControl] Set *auto nav control* mode
2024-10-21 22:05:07.057 INFO task_control:  [TaskControl] New movement task cmd arrive once
2024-10-21 22:05:07.057 INFO task_control:  [TaskQueue] ++ New movement task <TO_STATION> goal stations num: 1
2024-10-21 22:05:07.057 INFO task_control:  [TaskQueue]    New goal station ID [ 2 ]
2024-10-21 22:05:07.057 INFO task_control:  [TaskQueue] New task plan <TO_STATION> to goal station: [ 2 ]
2024-10-21 22:05:07.057 INFO task_control:  [PathPlan] start pos at node: 1
2024-10-21 22:05:07.057 INFO task_control:  [PathPlan] Route [ 0 ] 1 -> 2  length: 1.514
2024-10-21 22:05:07.058 INFO task_control:  [MotionControl] step | i | type | si | n | dir | obst
2024-10-21 22:05:07.058 INFO task_control:  [MotionControl] step [ 0 ]   r    0    1    0    1.0
2024-10-21 22:05:07.058 INFO task_control:  [MotionControl] step [ 1 ]   p    1    1    1    1.5
2024-10-21 22:05:07.058 INFO task_control:  [TaskQueue] !!! New Task Plan OK. [ MOTION_TASK ] ... Start Moving !!!
2024-10-21 22:05:07.315 INFO localization:  [Location] Reg prob: 2.333  iter: 4  cloudN: 5532  mapN: 3513  prob: 0.964  exeT: 106.8
2024-10-21 22:05:07.431 INFO localization:  [Location] Reg prob: 2.341  iter: 4  cloudN: 5522  mapN: 3513  prob: 0.965  exeT: 113.6
2024-10-21 22:05:07.527 INFO localization:  [Location] Reg prob: 2.345  iter: 4  cloudN: 5505  mapN: 3513  prob: 0.964  exeT: 94.9
2024-10-21 22:05:07.640 INFO localization:  [Location] Reg prob: 2.343  iter: 4  cloudN: 5568  mapN: 3513  prob: 0.964  exeT: 113.1
2024-10-21 22:05:07.749 INFO localization:  [Location] Reg prob: 2.342  iter: 4  cloudN: 5585  mapN: 3513  prob: 0.967  exeT: 108.5
2024-10-21 22:05:07.849 INFO localization:  [Location] Reg prob: 2.354  iter: 4  cloudN: 5591  mapN: 3513  prob: 0.968  exeT: 99.9
2024-10-21 22:05:07.949 INFO localization:  [Location] Reg prob: 2.344  iter: 4  cloudN: 5557  mapN: 3513  prob: 0.966  exeT: 99.2
2024-10-21 22:05:08.050 INFO localization:  [Location] Reg prob: 2.352  iter: 4  cloudN: 5572  mapN: 3513  prob: 0.969  exeT: 101.4
2024-10-21 22:05:08.156 INFO localization:  [Location] Reg prob: 2.350  iter: 4  cloudN: 5604  mapN: 3513  prob: 0.969  exeT: 104.9
2024-10-21 22:05:08.252 INFO localization:  [Location] Reg prob: 2.346  iter: 4  cloudN: 5645  mapN: 3513  prob: 0.969  exeT: 95.8
2024-10-21 22:05:08.346 INFO localization:  [Location] Reg prob: 2.345  iter: 4  cloudN: 5610  mapN: 3513  prob: 0.968  exeT: 93.2
2024-10-21 22:05:08.451 INFO localization:  [Location] Reg prob: 2.346  iter: 3  cloudN: 5579  mapN: 3513  prob: 0.969  exeT: 105.3
2024-10-21 22:05:08.556 INFO localization:  [Location] Reg prob: 2.346  iter: 4  cloudN: 5608  mapN: 3513  prob: 0.969  exeT: 104.4
2024-10-21 22:05:08.656 INFO localization:  [Location] Reg prob: 2.346  iter: 4  cloudN: 5621  mapN: 3513  prob: 0.970  exeT: 99.2
2024-10-21 22:05:08.756 INFO localization:  [Location] Reg prob: 2.344  iter: 4  cloudN: 5613  mapN: 3513  prob: 0.967  exeT: 99.9
2024-10-21 22:05:08.850 INFO localization:  [Location] Reg prob: 2.343  iter: 4  cloudN: 5652  mapN: 3513  prob: 0.967  exeT: 94.2
2024-10-21 22:05:08.970 INFO localization:  [Location] Reg prob: 2.348  iter: 4  cloudN: 5596  mapN: 3513  prob: 0.967  exeT: 119.1
2024-10-21 22:05:09.078 INFO localization:  [Location] Reg prob: 2.344  iter: 4  cloudN: 5636  mapN: 3513  prob: 0.968  exeT: 107.7
2024-10-21 22:05:09.188 INFO localization:  [Location] Reg prob: 2.347  iter: 4  cloudN: 5597  mapN: 3513  prob: 0.967  exeT: 108.9
2024-10-21 22:05:09.292 INFO localization:  [Location] Reg prob: 2.349  iter: 4  cloudN: 5563  mapN: 3513  prob: 0.967  exeT: 104.0
2024-10-21 22:05:09.429 INFO localization:  [Location] Reg prob: 2.347  iter: 4  cloudN: 5617  mapN: 3513  prob: 0.969  exeT: 136.0
2024-10-21 22:05:09.530 INFO localization:  [Location] Reg prob: 2.349  iter: 4  cloudN: 5608  mapN: 3513  prob: 0.969  exeT: 100.9
2024-10-21 22:05:09.548 INFO task_control:  [MotionControl] - [ 0 ] ROTATE STEP FINISH
2024-10-21 22:05:09.569 INFO task_control:  [MotionControl] - [ 1 ] PURSUIT STEP PASS STATION [ 1 ] 1
2024-10-21 22:05:09.629 INFO localization:  [Location] Reg prob: 2.347  iter: 4  cloudN: 5608  mapN: 3513  prob: 0.970  exeT: 98.7
2024-10-21 22:05:09.725 INFO localization:  [Location] Reg prob: 2.348  iter: 4  cloudN: 5640  mapN: 3513  prob: 0.969  exeT: 95.6
2024-10-21 22:05:09.824 INFO localization:  [Location] Reg prob: 2.351  iter: 4  cloudN: 5602  mapN: 3513  prob: 0.969  exeT: 98.4
2024-10-21 22:05:09.926 INFO localization:  [Location] Reg prob: 2.347  iter: 4  cloudN: 5644  mapN: 3513  prob: 0.970  exeT: 101.9
2024-10-21 22:05:10.025 INFO localization:  [Location] Reg prob: 2.345  iter: 4  cloudN: 5646  mapN: 3513  prob: 0.970  exeT: 97.6
2024-10-21 22:05:10.125 INFO localization:  [Location] Reg prob: 2.348  iter: 4  cloudN: 5622  mapN: 3513  prob: 0.971  exeT: 100.0
2024-10-21 22:05:10.234 INFO localization:  [Location] Reg prob: 2.344  iter: 4  cloudN: 5560  mapN: 3513  prob: 0.968  exeT: 108.3
2024-10-21 22:05:10.334 INFO localization:  [Location] Reg prob: 2.341  iter: 4  cloudN: 5619  mapN: 3513  prob: 0.967  exeT: 99.9
2024-10-21 22:05:10.426 INFO localization:  [Location] Reg prob: 2.348  iter: 4  cloudN: 5593  mapN: 3513  prob: 0.966  exeT: 91.1
2024-10-21 22:05:10.528 INFO localization:  [Location] Reg prob: 2.352  iter: 4  cloudN: 5565  mapN: 3513  prob: 0.966  exeT: 101.6
2024-10-21 22:05:10.627 INFO localization:  [Location] Reg prob: 2.351  iter: 4  cloudN: 5546  mapN: 3513  prob: 0.968  exeT: 98.4
2024-10-21 22:05:10.724 INFO localization:  [Location] Reg prob: 2.355  iter: 4  cloudN: 5497  mapN: 3513  prob: 0.967  exeT: 96.8
2024-10-21 22:05:10.825 INFO localization:  [Location] Reg prob: 2.351  iter: 4  cloudN: 5447  mapN: 3513  prob: 0.964  exeT: 100.8
2024-10-21 22:05:10.936 INFO localization:  [Location] Reg prob: 2.356  iter: 4  cloudN: 5507  mapN: 3513  prob: 0.965  exeT: 110.7
2024-10-21 22:05:11.058 INFO localization:  [Location] Reg prob: 2.339  iter: 4  cloudN: 5519  mapN: 3513  prob: 0.964  exeT: 121.0
2024-10-21 22:05:11.058 ERR localization:  [Location] Location error: no odom info, base error [ 10 ]
2024-10-21 22:05:11.090 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:05:11.090 INFO task_control:  [TaskControl] Emergency stop trigger once!
2024-10-21 22:05:11.091 INFO base_pt100:  [BaseDiff] cmd from task control: 0x11  EMERGENCY_STOP
2024-10-21 22:05:11.138 WARN task_control:  [TaskControl] Fault trigger: base driver brake
2024-10-21 22:05:11.139 ERR task_control:  [TaskControl] Error: location error (1.0), auto nav emergency stop
2024-10-21 22:05:11.182 INFO localization:  [Location] Reg prob: 2.322  iter: 4  cloudN: 5467  mapN: 3513  prob: 0.963  exeT: 123.8
2024-10-21 22:05:11.286 INFO localization:  [Location] Reg prob: 2.311  iter: 4  cloudN: 5427  mapN: 3513  prob: 0.959  exeT: 102.7
2024-10-21 22:05:11.393 INFO localization:  [Location] Reg prob: 2.294  iter: 4  cloudN: 5495  mapN: 3513  prob: 0.946  exeT: 107.1
2024-10-21 22:05:11.485 INFO localization:  [Location] Reg prob: 2.275  iter: 4  cloudN: 5450  mapN: 3513  prob: 0.941  exeT: 91.5
2024-10-21 22:05:11.592 INFO localization:  [Location] Reg prob: 2.291  iter: 4  cloudN: 5460  mapN: 3513  prob: 0.949  exeT: 106.2
2024-10-21 22:05:11.687 INFO localization:  [Location] Reg prob: 2.295  iter: 4  cloudN: 5451  mapN: 3513  prob: 0.951  exeT: 94.6
2024-10-21 22:05:11.786 INFO localization:  [Location] Reg prob: 2.291  iter: 4  cloudN: 5468  mapN: 3513  prob: 0.949  exeT: 99.0
2024-10-21 22:05:11.883 INFO localization:  [Location] Reg prob: 2.292  iter: 4  cloudN: 5442  mapN: 3513  prob: 0.949  exeT: 96.7
2024-10-21 22:05:11.982 INFO localization:  [Location] Reg prob: 2.293  iter: 4  cloudN: 5438  mapN: 3513  prob: 0.949  exeT: 98.8
2024-10-21 22:05:12.093 INFO localization:  [Location] Reg prob: 2.292  iter: 4  cloudN: 5432  mapN: 3513  prob: 0.949  exeT: 110.6
2024-10-21 22:05:12.210 INFO localization:  [Location] Reg prob: 2.289  iter: 3  cloudN: 5455  mapN: 3513  prob: 0.948  exeT: 116.3
2024-10-21 22:05:12.305 INFO localization:  [Location] Reg prob: 2.293  iter: 4  cloudN: 5412  mapN: 3513  prob: 0.949  exeT: 94.3
2024-10-21 22:05:12.410 INFO localization:  [Location] Reg prob: 2.295  iter: 4  cloudN: 5405  mapN: 3513  prob: 0.949  exeT: 104.8
2024-10-21 22:05:12.504 INFO localization:  [Location] Reg prob: 2.292  iter: 4  cloudN: 5420  mapN: 3513  prob: 0.949  exeT: 93.6
2024-10-21 22:05:12.603 INFO localization:  [Location] Reg prob: 2.288  iter: 4  cloudN: 5425  mapN: 3513  prob: 0.947  exeT: 98.8
2024-10-21 22:05:12.705 INFO localization:  [Location] Reg prob: 2.292  iter: 4  cloudN: 5437  mapN: 3513  prob: 0.949  exeT: 101.4
2024-10-21 22:05:12.815 INFO localization:  [Location] Reg prob: 2.289  iter: 4  cloudN: 5427  mapN: 3513  prob: 0.949  exeT: 110.4
2024-10-21 22:05:12.906 INFO localization:  [Location] Reg prob: 2.294  iter: 4  cloudN: 5393  mapN: 3513  prob: 0.949  exeT: 90.2
2024-10-21 22:05:13.009 INFO localization:  [Location] Reg prob: 2.294  iter: 4  cloudN: 5430  mapN: 3513  prob: 0.950  exeT: 102.2
2024-10-21 22:05:13.113 INFO localization:  [Location] Reg prob: 2.291  iter: 4  cloudN: 5452  mapN: 3513  prob: 0.947  exeT: 103.6
2024-10-21 22:05:13.210 INFO localization:  [Location] Reg prob: 2.291  iter: 4  cloudN: 5431  mapN: 3513  prob: 0.948  exeT: 96.9
2024-10-21 22:05:13.310 INFO localization:  [Location] Reg prob: 2.293  iter: 4  cloudN: 5420  mapN: 3513  prob: 0.949  exeT: 99.8
2024-10-21 22:05:13.411 INFO localization:  [Location] Reg prob: 2.289  iter: 4  cloudN: 5470  mapN: 3513  prob: 0.949  exeT: 99.9
2024-10-21 22:05:13.521 INFO localization:  [Location] Reg prob: 2.288  iter: 4  cloudN: 5477  mapN: 3513  prob: 0.947  exeT: 110.3
2024-10-21 22:05:13.560 INFO localization:  [Location] Location check motion stopped, delay cnt: 20 [1729519513.6]
2024-10-21 22:05:13.630 INFO localization:  [Location] Reg prob: 2.287  iter: 4  cloudN: 5429  mapN: 3513  prob: 0.949  exeT: 107.9