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  1. [2019-09-19 22:15:45]: try start drive to point '#1'
  2. [2019-09-19 22:15:45]: /movement. subDrivePoint cur_pose: [4.508, -1.632; -1.520], dest_pose: [4.689, -1.586; -1.540]
  3. [2019-09-19 22:15:45]: check station in back: is_charge_connected 0, inPoint 0, angle 0.927201, obst.in_rear 0
  4. [2019-09-19 22:15:45]: New drive algorithm: to_point_map
  5. [2019-09-19 22:15:45]: to_point_map. cancelAllGoals setDestinationPose()
  6. [2019-09-19 22:15:45]: to_point_map. cur_pose: [4.51, -1.63; -1.52], dest_pose: [4.70, -5.82; -0.92]
  7. [2019-09-19 22:15:45]: subDrivePaused. 0 -> 0
  8. [2019-09-19 22:15:45]: callbackMovementStatus: plugin: to_point_map cur_status: START, prev_status: FINISH
  9. [2019-09-19 22:15:56]: to_point_map. cancelAllGoals calc() !is_rotated
  10. [2019-09-19 22:15:58]: to_point_map. cancelAllGoals calc() is_rotated !is_trouble
  11. [2019-09-19 22:15:58]: callbackMovementStatus: plugin: to_point_map cur_status: SUCCESS, prev_status: START
  12. [2019-09-19 22:15:58]: callbackMovementStatus: plugin: to_point_map cur_status: FINISH, prev_status: SUCCESS
  13. [2019-09-19 22:15:58]: to_point_map. cancelAllGoals stop()
  14. [2019-09-19 22:15:58]: New drive algorithm: pause
  15. [2019-09-19 22:15:58]: callbackMovementStatus: plugin: pause cur_status: IDLE, prev_status: FINISH
  16. [2019-09-19 22:15:58]: to_point_map. cancelAllGoals stop()
  17. [2019-09-19 22:16:03]: pause. timeoutDrive 5.000000
  18. [2019-09-19 22:16:03]: callbackMovementStatus: plugin: pause cur_status: TIMEOUT, prev_status: IDLE
  19. [2019-09-19 22:16:03]: callbackMovementStatus: plugin: pause cur_status: FINISH, prev_status: TIMEOUT
  20. [2019-09-19 22:16:03]: New drive algorithm: pause
  21. [2019-09-19 22:16:08]: pause. timeoutDrive 5.000000
  22. [2019-09-19 22:16:08]: callbackMovementStatus: plugin: pause cur_status: TIMEOUT, prev_status: FINISH
  23. [2019-09-19 22:16:08]: callbackMovementStatus: plugin: pause cur_status: FINISH, prev_status: TIMEOUT
  24. [2019-09-19 22:16:08]: New drive algorithm: pause
  25. [2019-09-19 22:16:13]: pause. timeoutDrive 5.000000
  26. [2019-09-19 22:16:13]: callbackMovementStatus: plugin: pause cur_status: TIMEOUT, prev_status: FINISH
  27. [2019-09-19 22:16:13]: callbackMovementStatus: plugin: pause cur_status: FINISH, prev_status: TIMEOUT
  28. [2019-09-19 22:16:13]: New drive algorithm: pause
  29. [2019-09-19 22:16:18]: pause. timeoutDrive 5.000000
  30. [2019-09-19 22:16:18]: callbackMovementStatus: plugin: pause cur_status: TIMEOUT, prev_status: FINISH
  31. [2019-09-19 22:16:18]: callbackMovementStatus: plugin: pause cur_status: FINISH, prev_status: TIMEOUT
  32. [2019-09-19 22:16:18]: New drive algorithm: pause
  33. [2019-09-19 22:16:23]: pause. timeoutDrive 5.000000
  34. [2019-09-19 22:16:23]: callbackMovementStatus: plugin: pause cur_status: TIMEOUT, prev_status: FINISH
  35. [2019-09-19 22:16:23]: callbackMovementStatus: plugin: pause cur_status: FINISH, prev_status: TIMEOUT
  36. [2019-09-19 22:16:23]: New drive algorithm: pause
  37. [2019-09-19 22:16:24]: subDrivePaused. 0 -> 1
  38. [2019-09-19 22:16:35]: subDrivePaused. 1 -> 1
  39. [2019-09-19 22:16:36]: subDrivePaused. 1 -> 1
  40. [2019-09-19 22:16:36]: subDrivePaused. 1 -> 1
  41. [2019-09-19 22:16:47]: subDrivePaused. 1 -> 1
  42. [2019-09-19 22:17:13]: subDrivePaused. 1 -> 1
  43. [2019-09-19 22:17:13]: subDrivePaused. 1 -> 1
  44. [2019-09-19 22:17:19]: subDrivePaused. 1 -> 1
  45. [2019-09-19 22:17:22]: subDrivePaused. 1 -> 1
  46. [2019-09-19 22:17:24]: subDrivePaused. 1 -> 1
  47. [2019-09-19 22:17:26]: subDrivePaused. 1 -> 0
  48. [2019-09-19 22:17:27]: subDrivePaused. 0 -> 1
  49. [2019-09-19 22:17:28]: subDrivePaused. 1 -> 0
  50. [2019-09-19 22:17:32]: station_docking. charge connected 1
  51. [2019-09-19 22:17:32]: callbackMovementStatus: plugin: pause cur_status: SUCCESS, prev_status: IDLE
  52. [2019-09-19 22:17:32]: callbackMovementStatus: plugin: pause cur_status: FINISH, prev_status: SUCCESS
  53. [2019-09-19 22:17:32]: New drive algorithm: pause
  54. [2019-09-19 22:17:35]: subDrivePaused. 0 -> 1
  55. [2019-09-19 22:17:37]: subDrivePaused. 1 -> 0
  56. [2019-09-19 22:17:40]: subDrivePaused. 0 -> 1
  57. [2019-09-19 22:17:40]: subDrivePaused. 1 -> 1
  58. [2019-09-19 22:17:44]: try start drive to point '#2'
  59. [2019-09-19 22:17:44]: /movement. subDrivePoint cur_pose: [-253.904, -71.585; -1.779], dest_pose: [4.695, -5.817; -0.925]
  60. [2019-09-19 22:17:44]: check station in back: is_charge_connected 1, inPoint 0, angle 0.668793, obst.in_rear 0
  61. [2019-09-19 22:17:44]: New drive algorithm: station_undocking
  62. [2019-09-19 22:17:44]: station_undocking. cur_pose: [-253.90, -71.59; -1.78], dest_pose: [7.27, -4.15; -2.45]
  63. [2019-09-19 22:17:45]: subDrivePaused. 1 -> 1
  64. [2019-09-19 22:17:59]: station_undocking. timeoutDrive 15.000000
  65. [2019-09-19 22:17:59]: station_undocking. timeoutDrive
  66. [2019-09-19 22:17:59]: callbackMovementStatus: plugin: station_undocking cur_status: TIMEOUT, prev_status: IDLE
  67. [2019-09-19 22:17:59]: callbackMovementStatus: plugin: station_undocking cur_status: FINISH, prev_status: TIMEOUT
  68. [2019-09-19 22:17:59]: try start drive to point '#2'
  69. [2019-09-19 22:17:59]: /movement. subDrivePoint cur_pose: [-253.902, -71.585; -1.779], dest_pose: [7.267, -4.150; -2.447]
  70. [2019-09-19 22:17:59]: check station in back: is_charge_connected 1, inPoint 0, angle 0.668476, obst.in_rear 1
  71. [2019-09-19 22:17:59]: New drive algorithm: station_undocking
  72. [2019-09-19 22:17:59]: station_undocking. cur_pose: [-253.90, -71.58; -1.78], dest_pose: [7.27, -4.15; -2.45]
  73. [2019-09-19 22:18:11]: subDrivePaused. 1 -> 0
  74. [2019-09-19 22:18:11]: station_undocking. start rotate to point from angle '-1.779073' to: '0.252702'. turn to left
  75. [2019-09-19 22:18:11]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  76. [2019-09-19 22:18:11]: callbackMovementStatus: plugin: station_undocking cur_status: OBSTACLE, prev_status: FINISH
  77. [2019-09-19 22:18:11]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  78. [2019-09-19 22:18:11]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  79. [2019-09-19 22:18:11]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  80. [2019-09-19 22:18:11]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  81. [2019-09-19 22:18:11]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  82. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  83. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  84. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  85. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  86. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  87. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  88. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  89. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  90. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  91. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  92. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  93. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  94. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  95. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  96. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  97. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
  98. [2019-09-19 22:18:12]: station_undocking: OBSTACLE: |rr=0|ri=0|fr=0|f=0|fl=0|l=0|rl=0|b=1|can_rot=0|
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