0.000000000 Node Startup 0.000000000 INFO /tf_world_static [/tmp/binarydeb/ros-melodic-tf2-ros-0.6.5/src/static_transform_broadcaster_program.cpp:142(main)] [topics: /rosout, /tf_static] Spinning until killed publishing world to urban_circuit_practice_03 0.000000000 WARN /rosbag_robot_data [/tmp/binarydeb/ros-melodic-rosbag-1.14.3/src/recorder.cpp:165(Recorder::run)] [topics: /rosout] /use_sim_time set to true and no clock published. Still waiting for valid time... 24.728000000 INFO /rosbag_robot_data [/tmp/binarydeb/ros-melodic-rosbag-1.14.3/src/recorder.cpp:394(Recorder::startWriting)] [topics: /rosout] Recording to /home/developer/.ros/robot_data_0.bag. 0.000000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:277(Controller)] [topics: ] Waiting for /clock, /subt/start, and /subt/pose_from_artifact 53.116000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:285(Controller)] [topics: ] Using robot name[B90F1500R] 64.144000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:320(Update)] [topics: ] Sent start signal. 64.180000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:565(getSpeedCmd)] [topics: ] FILE: file /home/developer/subt_solution/zmq-subt-x2-200129_054111.log 64.180000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout SubT Challenge Ver53! 64.180000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout Waiting for robot_name ... 64.180000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:398(Update)] [topics: ] MD robot pose -7.5 2.99985 dist=65.2491 64.180000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 0 64.180000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:00:37.518982 (0.0 0.0 0.0) [] 64.180000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout robot_name: B90F1500R 64.324000000 INFO /B90F1500R/ros_ign_bridge_twist [/tmp/ros-ign-bridge-release/include/ros_ign_bridge/factory.hpp:137(Factory::ros_callback)] [topics: /rosout] Passing message from ROS geometry_msgs/Twist to Ignition ignition.msgs.Twist (showing msg only once per type 64.804000000 INFO /rosbag_robot_data [/tmp/binarydeb/ros-melodic-rosbag-1.14.3/src/recorder.cpp:210(shared_ptr rosbag::Recorder::subscribe)] [topics: /rosout] Subscribing to /robot_data 64.180000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout Use right wall: True 64.180000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout Using times [90, 1500] 69.212000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 1000 70.756000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:01:00.571179 (0.0 0.0 0.0) [('origin', 100), ('sim_time_sec', 7)] 75.616000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 2000 81.308000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 3000 96.228000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:02:29.198251 (0.0 0.0 0.0) [('origin', 150), ('sim_time_sec', 13)] 96.228000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout Artifacts before start: [] 96.228000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout Waiting for origin ... 96.228000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:125(odomCallback)] [topics: ] received Odom 0 96.256000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout Origin: [-7.5, 2.999728, 0.075908] B90F1500R 96.256000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout Offset: (-7.5, 2.999728, 0.075908) 96.256000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout heading 0.000687558636201154 angle -21.799618147625363 dist 8.077646196385677 98.232000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:125(odomCallback)] [topics: ] received Odom 100 100.036000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 4000 100.276000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:125(odomCallback)] [topics: ] received Odom 200 102.388000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:125(odomCallback)] [topics: ] received Odom 300 104.228000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:125(odomCallback)] [topics: ] received Odom 400 104.356000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:03:00.107210 (0.0 0.0 0.0) [('origin', 119), ('pose2d', 398), ('sim_time_sec', 9)] 104.664000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 5000 106.244000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:125(odomCallback)] [topics: ] received Odom 500 108.280000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:125(odomCallback)] [topics: ] received Odom 600 109.260000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 6000 110.260000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:125(odomCallback)] [topics: ] received Odom 700 112.236000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:125(odomCallback)] [topics: ] received Odom 800 113.848000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 7000 114.296000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:125(odomCallback)] [topics: ] received Odom 900 115.972000000 ERROR /subt_ros_relay [/tmp/binarydeb/ros-melodic-roscpp-1.14.3/src/libros/service_publication.cpp:138(CallbackInterface::CallResult ros::ServiceCallback::call)] [topics: /rosout, /subt/score] Exception thrown while processing service call: CHECK failed: (index) < (current_size_): 115.972000000 ERROR /subt_solution [/tmp/binarydeb/ros-melodic-roscpp-1.14.3/src/libros/service_server_link.cpp:378(ServiceServerLink::call)] [topics: ] Service call failed: service [/subt/pose_from_artifact_origin] responded with an error: CHECK failed: (index) < (current_size_): 115.972000000 ERROR /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:369(Update)] [topics: ] Failed to call pose_from_artifact_origin service, robot may not exist, be outside staging area, or the service is not available. 116.128000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:98(imuCallback)] [topics: ] received Imu 0 119.620000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 0 119.620000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:107(scanCallback)] [topics: ] received Scan 0 119.620000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:116(imageCallback)] [topics: ] received Image 0 119.668000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:125(odomCallback)] [topics: ] received Odom 1000 120.252000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout Image resolution (360, 640, 3) 120.252000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:98(imuCallback)] [topics: ] received Imu 100 120.660000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:04:00.037342 (0.0 0.0 0.0) [('acc', 121), ('image', 8), ('origin', 191), ('pose2d', 611), ('rot', 121), ('scan', 19), ('sim_time_sec', 16)] 122.272000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 8000 122.932000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 100 122.932000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:107(scanCallback)] [topics: ] received Scan 100 126.792000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 9000 127.876000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 200 127.876000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:107(scanCallback)] [topics: ] received Scan 200 132.388000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 10000 133.012000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:107(scanCallback)] [topics: ] received Scan 300 133.060000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 300 136.900000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 11000 137.860000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 400 137.860000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:107(scanCallback)] [topics: ] received Scan 400 138.088000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:05:00.209933 (0.0 0.0 0.0) [('acc', 41), ('rot', 41), ('scan', 182), ('sim_time_sec', 17)] 142.132000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 12000 142.900000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 500 142.900000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:107(scanCallback)] [topics: ] received Scan 500 146.376000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 13000 147.944000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:107(scanCallback)] [topics: ] received Scan 600 149.196000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 600 152.260000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 14000 152.932000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 700 157.540000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:06:06.800102 (0.0 0.0 0.0) [('scan', 128), ('sim_time_sec', 18)] 157.876000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 800 158.040000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 15000 162.868000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 900 163.160000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 16000 167.956000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 1000 168.008000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 17000 172.372000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 18000 172.872000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 1100 173.016000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:07:01.310138 (0.0 0.0 0.0) [('sim_time_sec', 17)] 177.080000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 19000 181.588000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 20000 186.636000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 21000 655.916000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:34:29.502813 (0.0 0.0 0.0) [('sim_time_sec', 18)] 656.632000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 22000 657.740000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 1200 659.124000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:107(scanCallback)] [topics: ] received Scan 700 661.020000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 23000 662.596000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 1300 664.000000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:107(scanCallback)] [topics: ] received Scan 800 664.504000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:35:00.124296 (0.0 0.0 0.0) [('scan', 75), ('sim_time_sec', 10)] 665.588000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 24000 667.588000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 1400 669.016000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:107(scanCallback)] [topics: ] received Scan 900 669.988000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 25000 672.540000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 1500 674.500000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 26000 677.572000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 1600 678.676000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 27000 683.092000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 1700 683.284000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:36:08.420815 (0.0 0.0 0.0) [('scan', 77), ('sim_time_sec', 17)] 684.252000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 28000 687.556000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 1800 688.468000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 29000 693.040000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 30000 697.300000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:37:03.490973 (0.0 0.0 0.0) [('sim_time_sec', 15)] 697.600000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 31000 701.996000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 32000 711.008000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 33000 712.088000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:38:01.095985 (0.0 0.0 0.0) [('sim_time_sec', 11)] 715.616000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 34000 721.436000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 35000 727.032000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 36000 728.096000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:39:03.338124 (0.0 0.0 0.0) [('sim_time_sec', 16)] 731.144000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 37000 735.144000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 38000 739.196000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 39000 743.244000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 40000 744.096000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:40:02.980919 (0.0 0.0 0.0) [('sim_time_sec', 16)] 747.244000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 41000 751.300000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 42000 755.344000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 43000 759.400000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 44000 760.096000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:41:02.613839 (0.0 0.0 0.0) [('sim_time_sec', 16)] 763.396000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 45000 767.472000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 46000 771.460000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 47000 775.496000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 48000 776.044000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:42:01.800143 (0.0 0.0 0.0) [('sim_time_sec', 16)] 779.568000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 49000 783.684000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 50000 787.744000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 51000 791.812000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 52000 792.072000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:43:01.821984 (0.0 0.0 0.0) [('sim_time_sec', 16)] 795.796000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 53000 799.800000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 54000 803.796000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 55000 807.900000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 56000 808.048000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:44:01.723216 (0.0 0.0 0.0) [('sim_time_sec', 16)] 812.052000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 57000 816.068000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 58000 820.052000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 59000 824.068000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:45:01.413632 (0.0 0.0 0.0) [('sim_time_sec', 16)] 824.116000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 60000 828.252000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 61000 832.360000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 62000 836.360000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 63000 840.072000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:46:01.308143 (0.0 0.0 0.0) [('sim_time_sec', 16)] 840.412000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 64000 844.408000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 65000 848.460000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 66000 852.508000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 67000 856.080000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:47:01.157667 (0.0 0.0 0.0) [('sim_time_sec', 16)] 856.612000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 68000 860.608000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 69000 864.660000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 70000 868.708000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 71000 872.068000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:48:00.464801 (0.0 0.0 0.0) [('sim_time_sec', 16)] 872.764000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 72000 876.760000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 73000 880.900000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 74000 884.920000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 75000 888.076000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:49:00.639823 (0.0 0.0 0.0) [('sim_time_sec', 16)] 889.008000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 76000 893.020000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 77000 897.172000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 78000 901.224000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 79000 904.072000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:50:00.011958 (0.0 0.0 0.0) [('sim_time_sec', 16)] 905.224000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 80000 909.224000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 81000 913.272000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 82000 917.284000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 83000 921.072000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:51:03.489570 (0.0 0.0 0.0) [('sim_time_sec', 17)] 921.324000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 84000 925.372000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 85000 929.372000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 86000 933.424000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 87000 937.072000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:52:03.483743 (0.0 0.0 0.0) [('sim_time_sec', 16)] 937.472000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 88000 941.572000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 89000 945.572000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 90000 949.672000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 91000 953.056000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:53:02.958437 (0.0 0.0 0.0) [('sim_time_sec', 16)] 953.812000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 92000 957.904000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 93000 961.972000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 94000 971.528000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:54:13.027952 (0.0 0.0 0.0) [('sim_time_sec', 11)] 974.212000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 1900 974.884000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 20103 293 138 347 640 2.1231884057971016 0.0 974.884000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout h/w 0.6748768472906403 974.884000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:54:26.915883 Relative position: 19258 -1399 333 TYPE_BACKPACK 974.884000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:54:26.967973 Robot at: (-7.749863841149908, 2.779598354368583, 0.075908) 976.132000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 95000 976.228000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:116(imageCallback)] [topics: ] received Image 100 977.804000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 2000 980.484000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 96000 982.804000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:149(depthCallback)] [topics: ] received Depth 2100 984.100000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:537(getSpeedCmd)] [topics: ] Python3: stdout 0:55:02.627445 (0.0 0.0 0.0) [('acc', 34), ('artf', 1), ('image', 138), ('rot', 34), ('scan', 15), ('sim_time_sec', 13)] 984.532000000 INFO /subt_solution [/home/developer/subt_solution/src/subt_seed/src/subt_seed_node.cc:89(clockCallback)] [topics: ] received Clock 97000