NODES
  /
    amcl (amcl/amcl)
    map_server (map_server/map_server)
    move_base (move_base/move_base)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[map_server-1]: started with pid [15358]
process[amcl-2]: started with pid [15372]
[ INFO] [1408020852.917542788]: Requesting the map...
[ INFO] [1408020852.922788755]: Received a 306 X 301 map @ 0.050 m/pix

[ INFO] [1408020852.933087981]: Initializing likelihood field model; this can take some time on large maps...
process[move_base-3]: started with pid [15468]
[ERROR] [1408020852.979940832]: SALUUUT
[ INFO] [1408020853.000926167]: Done initializing likelihood field model.
[ INFO] [1408020857.182183651]: Loading from pre-hydro parameter style
[ INFO] [1408020857.217026500]: Using plugin "static_layer"
[ INFO] [1408020857.265286214]: Requesting the map...
[ INFO] [1408020857.466630119]: Resizing costmap to 306 X 301 at 0.050000 m/pix
[ INFO] [1408020857.566311457]: Received a 306 X 301 map at 0.050000 m/pix
[ INFO] [1408020857.572560881]: Using plugin "obstacle_layer"
[ INFO] [1408020857.574852910]:     Subscribed to Topics: laser_scan_sensor
[ INFO] [1408020857.593359324]: Using plugin "inflation_layer"
[ INFO] [1408020857.688726904]: Loading from pre-hydro parameter style
[ INFO] [1408020857.702290534]: Using plugin "obstacle_layer"
[ INFO] [1408020857.745175866]:     Subscribed to Topics: laser_scan_sensor
[ INFO] [1408020857.762918919]: Using plugin "inflation_layer"
[ INFO] [1408020857.833639425]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1408020857.843339437]: Sim period is set to 0.50
[ WARN] [1408020857.849989364]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
[ INFO] [1408020858.036749336]: Recovery behavior will clear layer obstacles
[ INFO] [1408020858.085498730]: Recovery behavior will clear layer obstacles
[ INFO] [1408020858.109598512]: odom received!
[ WARN] [1408020931.342760618]: Failed to transform initial pose in time (Lookup would require extrapolation into the future.  Requested time 1408020931.342568864 but the latest data is at time 1408020931.320369958, when looking up transform from frame [map] to frame [base_link])
[ INFO] [1408020931.342809023]: Setting pose (1408020931.342798): -5.953 1.544 0.290
[ INFO] [1408020953.591452906]: Waiting for plan, in the planning state.
[ INFO] [1408020954.091592095]: In controlling state.
[ INFO] [1408020954.104230595]: A valid velocity command of (0.44, 0.00, -0.10) was found for this cycle.
[ INFO] [1408020954.104590703]: Valid command from the local planner: 0.444, 0.000, -0.100
[ INFO] [1408020954.591544485]: In controlling state.
[ INFO] [1408020954.603631668]: A valid velocity command of (0.33, 0.00, -0.10) was found for this cycle.
[ INFO] [1408020954.603790630]: Valid command from the local planner: 0.333, 0.000, -0.100
[ INFO] [1408020955.091466017]: In controlling state.
[ INFO] [1408020955.104186012]: A valid velocity command of (0.50, 0.00, -0.36) was found for this cycle.
[ INFO] [1408020955.104417858]: Valid command from the local planner: 0.500, 0.000, -0.358
[ INFO] [1408020955.594529979]: In controlling state.
[ INFO] [1408020955.622502679]: A valid velocity command of (0.28, 0.00, 0.00) was found for this cycle.
[ INFO] [1408020955.622773968]: Valid command from the local planner: 0.278, 0.000, 0.000
[ INFO] [1408020956.091474528]: In controlling state.
[ INFO] [1408020956.103206355]: A valid velocity command of (0.50, 0.00, 0.05) was found for this cycle.
[ INFO] [1408020956.103438352]: Valid command from the local planner: 0.500, 0.000, 0.047
[ INFO] [1408020956.591461370]: In controlling state.
[ INFO] [1408020956.604144636]: A valid velocity command of (0.50, 0.00, 0.03) was found for this cycle.
[ INFO] [1408020956.604324181]: Valid command from the local planner: 0.500, 0.000, 0.026
[ INFO] [1408020957.091490990]: In controlling state.
[ INFO] [1408020957.103347590]: A valid velocity command of (0.44, 0.00, 0.07) was found for this cycle.
[ INFO] [1408020957.103495955]: Valid command from the local planner: 0.444, 0.000, 0.068
[ INFO] [1408020957.591503387]: In controlling state.
[ INFO] [1408020957.601890246]: A valid velocity command of (0.30, 0.00, 0.00) was found for this cycle.
[ INFO] [1408020957.602149456]: Valid command from the local planner: 0.299, 0.000, 0.000
[ INFO] [1408020958.091512921]: In controlling state.
[ INFO] [1408020958.100433971]: A valid velocity command of (0.24, 0.00, 0.02) was found for this cycle.
[ INFO] [1408020958.100660837]: Valid command from the local planner: 0.241, 0.000, 0.016
[ INFO] [1408020958.591452991]: In controlling state.
[ INFO] [1408020958.599033062]: A valid velocity command of (0.16, 0.00, 0.00) was found for this cycle.
[ INFO] [1408020958.599211894]: Valid command from the local planner: 0.163, 0.000, 0.000
[ INFO] [1408020959.091527040]: In controlling state.
[ INFO] [1408020959.098236351]: A valid velocity command of (0.11, 0.00, 0.00) was found for this cycle.
[ INFO] [1408020959.098366636]: Valid command from the local planner: 0.111, 0.000, 0.000
[ INFO] [1408020959.591545714]: In controlling state.
[ INFO] [1408020959.603786630]: A valid velocity command of (0.06, 0.00, 0.02) was found for this cycle.
[ INFO] [1408020959.603984648]: Valid command from the local planner: 0.058, 0.000, 0.016
[ INFO] [1408020960.091490277]: In controlling state.
[ INFO] [1408020960.097110666]: A valid velocity command of (0.04, 0.00, -0.10) was found for this cycle.
[ INFO] [1408020960.097257391]: Valid command from the local planner: 0.035, 0.000, -0.100
[ INFO] [1408020960.591516918]: In controlling state.
[ INFO] [1408020960.606643187]: A valid velocity command of (0.02, 0.00, -0.10) was found for this cycle.
[ INFO] [1408020960.606797451]: Valid command from the local planner: 0.017, 0.000, -0.100
[ INFO] [1408020961.091469601]: In controlling state.
[ INFO] [1408020961.105683589]: A valid velocity command of (0.00, 0.00, -0.19) was found for this cycle.
[ INFO] [1408020961.105852168]: Valid command from the local planner: 0.000, 0.000, -0.189
[ INFO] [1408020961.591490650]: In controlling state.
[ INFO] [1408020961.623547027]: A valid velocity command of (0.12, 0.00, -2.05) was found for this cycle.
[ INFO] [1408020961.623796687]: Valid command from the local planner: 0.123, 0.000, -2.051
[ INFO] [1408020962.091452367]: In controlling state.
[ INFO] [1408020962.122751440]: A valid velocity command of (0.11, 0.00, 0.00) was found for this cycle.
[ INFO] [1408020962.122898681]: Valid command from the local planner: 0.109, 0.000, 0.000
[ INFO] [1408020962.591471932]: In controlling state.
[ INFO] [1408020962.622328143]: A valid velocity command of (0.03, 0.00, 0.00) was found for this cycle.
[ INFO] [1408020962.622506346]: Valid command from the local planner: 0.027, 0.000, 0.000
[ INFO] [1408020963.091454766]: In controlling state.
[ INFO] [1408020963.099111748]: A valid velocity command of (0.23, 0.00, 0.08) was found for this cycle.
[ INFO] [1408020963.099312374]: Valid command from the local planner: 0.231, 0.000, 0.079
[ INFO] [1408020963.591486409]: In controlling state.
[ INFO] [1408020963.598753380]: A valid velocity command of (0.18, 0.00, 0.00) was found for this cycle.
[ INFO] [1408020963.598858614]: Valid command from the local planner: 0.184, 0.000, 0.000
[ INFO] [1408020964.091563968]: In controlling state.
[ INFO] [1408020964.097240722]: A valid velocity command of (0.15, 0.00, 0.00) was found for this cycle.
[ INFO] [1408020964.097459568]: Valid command from the local planner: 0.148, 0.000, 0.000
[ INFO] [1408020964.591461642]: In controlling state.
[ INFO] [1408020964.596962052]: A valid velocity command of (0.09, 0.00, 0.05) was found for this cycle.
[ INFO] [1408020964.597366045]: Valid command from the local planner: 0.091, 0.000, 0.047
[ INFO] [1408020965.091459615]: In controlling state.
[ INFO] [1408020965.097251691]: A valid velocity command of (0.05, 0.00, 0.15) was found for this cycle.
[ INFO] [1408020965.097417126]: Valid command from the local planner: 0.052, 0.000, 0.149
[ INFO] [1408020965.591461332]: In controlling state.
[ INFO] [1408020965.615146677]: A valid velocity command of (0.09, 0.00, 0.00) was found for this cycle.
[ INFO] [1408020965.615317730]: Valid command from the local planner: 0.088, 0.000, 0.000
[ INFO] [1408020966.091572324]: In controlling state.
[ INFO] [1408020966.097249552]: A valid velocity command of (0.12, 0.00, 0.05) was found for this cycle.
[ INFO] [1408020966.097406856]: Valid command from the local planner: 0.118, 0.000, 0.047
[ INFO] [1408020966.591456657]: In controlling state.
[ INFO] [1408020966.598163267]: A valid velocity command of (0.10, 0.00, 0.00) was found for this cycle.
[ INFO] [1408020966.598295538]: Valid command from the local planner: 0.096, 0.000, 0.000
[ INFO] [1408020967.091468458]: In controlling state.
[ INFO] [1408020967.091696825]: At goal, angle_error 0
[ INFO] [1408020967.096657679]: At goal, a valid velocity command of (0.00, 0.00, -0.00) was found for this cycle.
[ INFO] [1408020967.096724315]: Valid command from the local planner: 0.000, 0.000, -0.000
[ INFO] [1408020967.591469830]: In controlling state.
[ INFO] [1408020967.591670163]: At goal, angle_error 0
[ INFO] [1408020967.596199478]: At goal, a valid velocity command of (0.00, 0.00, -0.10) was found for this cycle.
[ INFO] [1408020967.596316699]: Valid command from the local planner: 0.000, 0.000, -0.100
[ INFO] [1408020968.091467584]: In controlling state.
[ WARN] [1408020968.091567752]: Detected an oscillation
[ INFO] [1408020968.091900431]: At goal, angle_error 0
[ INFO] [1408020968.108436253]: At goal, a valid velocity command of (0.00, 0.00, -0.10) was found for this cycle.
[ INFO] [1408020968.108530158]: Valid command from the local planner: 0.000, 0.000, -0.100
[ INFO] [1408020968.591544011]: In clearing/recovery state
[ INFO] [1408020968.591660572]: Executing behavior 0 of 4
[ WARN] [1408020968.591711982]: Clearing costmap to unstuck robot (3.000000m).
[ INFO] [1408020968.591845451]: Going back to planning state
[ INFO] [1408020969.091474011]: Waiting for plan, in the planning state.
[ INFO] [1408020969.591499078]: In controlling state.
[ INFO] [1408020969.591657544]: At goal, angle_error 0
[ INFO] [1408020969.591708431]: At goal, a valid velocity command of (0.00, 0.00, 0.00) was found for this cycle.
[ INFO] [1408020969.591746412]: Valid command from the local planner: 0.000, 0.000, 0.000
[ INFO] [1408020970.091540985]: In controlling state.
[ INFO] [1408020970.091637466]: Goal reached!