root@32f58fd60cad:/duckietown# roslaunch sw_06_line_detector lane_following.launch
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Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://32f58fd60cad:44635/

SUMMARY
========

PARAMETERS
 * /default/anti_instagram_node/ai_interval: 5
 * /default/anti_instagram_node/cb_percentage: 0.8
 * /default/anti_instagram_node/resize: 0.2
 * /default/anti_instagram_node/scale_percentage: 0.2
 * /default/anti_instagram_node/veh: default
 * /default/duckiebot_visualizer/veh_name: default
 * /default/fsm_node/events/apriltag_intersection/msg_type: BoolStamped
 * /default/fsm_node/events/apriltag_intersection/topic: apriltags_postpro...
 * /default/fsm_node/events/apriltag_intersection/trigger: True
 * /default/fsm_node/events/apriltag_parking_and_parking_active/msg_type: BoolStamped
 * /default/fsm_node/events/apriltag_parking_and_parking_active/topic: logic_gate_node/a...
 * /default/fsm_node/events/apriltag_parking_and_parking_active/trigger: True
 * /default/fsm_node/events/at_stop_line/msg_type: BoolStamped
 * /default/fsm_node/events/at_stop_line/topic: stop_line_filter_...
 * /default/fsm_node/events/at_stop_line/trigger: True
 * /default/fsm_node/events/at_stop_line_and_charging_exit/msg_type: BoolStamped
 * /default/fsm_node/events/at_stop_line_and_charging_exit/topic: logic_gate_node/a...
 * /default/fsm_node/events/at_stop_line_and_charging_exit/trigger: True
 * /default/fsm_node/events/at_stop_line_and_parking_off/msg_type: BoolStamped
 * /default/fsm_node/events/at_stop_line_and_parking_off/topic: logic_gate_node/a...
 * /default/fsm_node/events/at_stop_line_and_parking_off/trigger: True
 * /default/fsm_node/events/at_stop_line_and_parking_on/msg_type: BoolStamped
 * /default/fsm_node/events/at_stop_line_and_parking_on/topic: logic_gate_node/a...
 * /default/fsm_node/events/at_stop_line_and_parking_on/trigger: True
 * /default/fsm_node/events/calibration_calculation_start/msg_type: BoolStamped
 * /default/fsm_node/events/calibration_calculation_start/topic: auto_calibration_...
 * /default/fsm_node/events/calibration_calculation_start/trigger: True
 * /default/fsm_node/events/calibration_calculation_stop/msg_type: BoolStamped
 * /default/fsm_node/events/calibration_calculation_stop/topic: auto_calibration_...
 * /default/fsm_node/events/calibration_calculation_stop/trigger: True
 * /default/fsm_node/events/calibration_start/msg_type: BoolStamped
 * /default/fsm_node/events/calibration_start/topic: auto_calibration_...
 * /default/fsm_node/events/calibration_start/trigger: True
 * /default/fsm_node/events/calibration_stop/msg_type: BoolStamped
 * /default/fsm_node/events/calibration_stop/topic: auto_calibration_...
 * /default/fsm_node/events/calibration_stop/trigger: True
 * /default/fsm_node/events/deep_lane_following_off/msg_type: BoolStamped
 * /default/fsm_node/events/deep_lane_following_off/topic: joy_mapper_node/d...
 * /default/fsm_node/events/deep_lane_following_off/trigger: False
 * /default/fsm_node/events/deep_lane_following_on/msg_type: BoolStamped
 * /default/fsm_node/events/deep_lane_following_on/topic: joy_mapper_node/d...
 * /default/fsm_node/events/deep_lane_following_on/trigger: True
 * /default/fsm_node/events/in_charger/msg_type: BoolStamped
 * /default/fsm_node/events/in_charger/topic: maintenance_contr...
 * /default/fsm_node/events/in_charger/trigger: True
 * /default/fsm_node/events/intersection_done_and_deep_lane_off/msg_type: BoolStamped
 * /default/fsm_node/events/intersection_done_and_deep_lane_off/topic: logic_gate_node/i...
 * /default/fsm_node/events/intersection_done_and_deep_lane_off/trigger: True
 * /default/fsm_node/events/intersection_done_and_deep_lane_on/msg_type: BoolStamped
 * /default/fsm_node/events/intersection_done_and_deep_lane_on/topic: logic_gate_node/i...
 * /default/fsm_node/events/intersection_done_and_deep_lane_on/trigger: True
 * /default/fsm_node/events/intersection_go/msg_type: BoolStamped
 * /default/fsm_node/events/intersection_go/topic: logic_gate_node/i...
 * /default/fsm_node/events/intersection_go/trigger: True
 * /default/fsm_node/events/intersection_path_computed/msg_type: BoolStamped
 * /default/fsm_node/events/intersection_path_computed/topic: intersection_navi...
 * /default/fsm_node/events/intersection_path_computed/trigger: True
 * /default/fsm_node/events/joystick_override_off_and_deep_lane_off/msg_type: BoolStamped
 * /default/fsm_node/events/joystick_override_off_and_deep_lane_off/topic: logic_gate_node/j...
 * /default/fsm_node/events/joystick_override_off_and_deep_lane_off/trigger: True
 * /default/fsm_node/events/joystick_override_off_and_deep_lane_on/msg_type: BoolStamped
 * /default/fsm_node/events/joystick_override_off_and_deep_lane_on/topic: logic_gate_node/j...
 * /default/fsm_node/events/joystick_override_off_and_deep_lane_on/trigger: True
 * /default/fsm_node/events/joystick_override_on_and_parallel_autonomy_off/msg_type: BoolStamped
 * /default/fsm_node/events/joystick_override_on_and_parallel_autonomy_off/topic: logic_gate_node/j...
 * /default/fsm_node/events/joystick_override_on_and_parallel_autonomy_off/trigger: True
 * /default/fsm_node/events/joystick_override_on_and_parallel_autonomy_on/msg_type: BoolStamped
 * /default/fsm_node/events/joystick_override_on_and_parallel_autonomy_on/topic: logic_gate_node/j...
 * /default/fsm_node/events/joystick_override_on_and_parallel_autonomy_on/trigger: True
 * /default/fsm_node/events/parallel_autonomy_off/msg_type: BoolStamped
 * /default/fsm_node/events/parallel_autonomy_off/topic: joy_mapper_node/p...
 * /default/fsm_node/events/parallel_autonomy_off/trigger: False
 * /default/fsm_node/events/parallel_autonomy_on/msg_type: BoolStamped
 * /default/fsm_node/events/parallel_autonomy_on/topic: joy_mapper_node/p...
 * /default/fsm_node/events/parallel_autonomy_on/trigger: True
 * /default/fsm_node/events/start_avoidance/msg_type: BoolStamped
 * /default/fsm_node/events/start_avoidance/topic: joy_mapper_node/s...
 * /default/fsm_node/events/start_avoidance/trigger: True
 * /default/fsm_node/global_transitions/joystick_override_on_and_parallel_autonomy_off: NORMAL_JOYSTICK_C...
 * /default/fsm_node/global_transitions/joystick_override_on_and_parallel_autonomy_on: SAFE_JOYSTICK_CON...
 * /default/fsm_node/initial_state: NORMAL_JOYSTICK_C...
 * /default/fsm_node/nodes/anti_instagram: anti_instagram_no...
 * /default/fsm_node/nodes/apriltag_node: apriltag_detector...
 * /default/fsm_node/nodes/auto_calibration_calculation_node: auto_calibration_...
 * /default/fsm_node/nodes/auto_calibration_node: auto_calibration_...
 * /default/fsm_node/nodes/central_fleet_planning_node: central_fleet_pla...
 * /default/fsm_node/nodes/charging_control: charging_control_...
 * /default/fsm_node/nodes/coordinator_node: coordinator_node/...
 * /default/fsm_node/nodes/decoder_node: decoder_node/switch
 * /default/fsm_node/nodes/duckiebot_il_lane_following: duckiebot_il_lane...
 * /default/fsm_node/nodes/framerate_high: camera_node/frame...
 * /default/fsm_node/nodes/implicit_coordination_node: implicit_coordina...
 * /default/fsm_node/nodes/intersection_localizer_node: intersection_loca...
 * /default/fsm_node/nodes/intersection_navigation_node: intersection_navi...
 * /default/fsm_node/nodes/lane_controller_node: lane_controller_n...
 * /default/fsm_node/nodes/lane_filter_node: lane_filter_node/...
 * /default/fsm_node/nodes/led_detector_node: led_detector_node...
 * /default/fsm_node/nodes/led_emitter_node: led_emitter_node/...
 * /default/fsm_node/nodes/line_detector_node: line_detector_nod...
 * /default/fsm_node/nodes/obstacle_avoidance_node: obstacle_avoidanc...
 * /default/fsm_node/nodes/obstacle_detection_node: obstacle_detectio...
 * /default/fsm_node/nodes/parking_control: parking_control/s...
 * /default/fsm_node/nodes/parking_path_planning: parking_path_plan...
 * /default/fsm_node/nodes/parking_perception_localization: parking_perceptio...
 * /default/fsm_node/nodes/static_object_detector_node: static_object_det...
 * /default/fsm_node/nodes/stop_line_filter_node: stop_line_filter_...
 * /default/fsm_node/nodes/unicorn_intersection_node: unicorn_intersect...
 * /default/fsm_node/nodes/vehicle_avoidance_control_node: vehicle_avoidance...
 * /default/fsm_node/nodes/vehicle_detection_node: vehicle_detection...
 * /default/fsm_node/nodes/vehicle_filter_node: vehicle_filter_no...
 * /default/fsm_node/states/ARRIVE_AT_STOP_LINE/active_nodes: ['apriltag_node',...
 * /default/fsm_node/states/ARRIVE_AT_STOP_LINE/current_status: implemented
 * /default/fsm_node/states/ARRIVE_AT_STOP_LINE/transitions/apriltag_intersection: INTERSECTION_COOR...
 * /default/fsm_node/states/CALIBRATING/active_nodes: ['auto_calibratio...
 * /default/fsm_node/states/CALIBRATING/transitions/calibration_calculation_start: CALIBRATING_CALC
 * /default/fsm_node/states/CALIBRATING/transitions/calibration_stop: LANE_FOLLOWING
 * /default/fsm_node/states/CALIBRATING_CALC/active_nodes: ['auto_calibratio...
 * /default/fsm_node/states/CALIBRATING_CALC/transitions/calibration_calculation_stop: CALIBRATING
 * /default/fsm_node/states/CHARGING_FIRST_IN_LINE/active_nodes: ['decoder_node', ...
 * /default/fsm_node/states/CHARGING_FIRST_IN_LINE/transitions/at_stop_line_and_charging_exit: LANE_FOLLOWING
 * /default/fsm_node/states/DEEP_LANE_FOLLOWING/active_nodes: ['decoder_node', ...
 * /default/fsm_node/states/DEEP_LANE_FOLLOWING/transitions/at_stop_line_and_parking_off: INTERSECTION_COOR...
 * /default/fsm_node/states/DEEP_LANE_FOLLOWING/transitions/at_stop_line_and_parking_on: ARRIVE_AT_STOP_LINE
 * /default/fsm_node/states/DEEP_LANE_FOLLOWING/transitions/deep_lane_following_off: LANE_FOLLOWING
 * /default/fsm_node/states/INTERSECTION_CONTROL/active_nodes: ['apriltag_node',...
 * /default/fsm_node/states/INTERSECTION_CONTROL/current_status: in_progress
 * /default/fsm_node/states/INTERSECTION_CONTROL/transitions/in_charger: IN_CHARGING_AREA
 * /default/fsm_node/states/INTERSECTION_CONTROL/transitions/intersection_done_and_deep_lane_off: LANE_FOLLOWING
 * /default/fsm_node/states/INTERSECTION_CONTROL/transitions/intersection_done_and_deep_lane_on: DEEP_LANE_FOLLOWING
 * /default/fsm_node/states/INTERSECTION_COORDINATION/active_nodes: ['apriltag_node',...
 * /default/fsm_node/states/INTERSECTION_COORDINATION/current_status: in_progress
 * /default/fsm_node/states/INTERSECTION_COORDINATION/lights: ['coordination']
 * /default/fsm_node/states/INTERSECTION_COORDINATION/transitions/intersection_go: INTERSECTION_CONTROL
 * /default/fsm_node/states/IN_CHARGING_AREA/active_nodes: ['decoder_node', ...
 * /default/fsm_node/states/IN_CHARGING_AREA/transitions/at_stop_line_and_parking_off: CHARGING_FIRST_IN...
 * /default/fsm_node/states/IN_CHARGING_AREA/transitions/at_stop_line_and_parking_on: CHARGING_FIRST_IN...
 * /default/fsm_node/states/LANE_FOLLOWING/active_nodes: ['anti_instagram'...
 * /default/fsm_node/states/LANE_FOLLOWING/current_status: in_progress
 * /default/fsm_node/states/LANE_FOLLOWING/lights: ['lane_following']
 * /default/fsm_node/states/LANE_FOLLOWING/transitions/at_stop_line_and_parking_off: INTERSECTION_COOR...
 * /default/fsm_node/states/LANE_FOLLOWING/transitions/at_stop_line_and_parking_on: ARRIVE_AT_STOP_LINE
 * /default/fsm_node/states/LANE_FOLLOWING/transitions/calibration_start: CALIBRATING
 * /default/fsm_node/states/LANE_FOLLOWING/transitions/deep_lane_following_on: DEEP_LANE_FOLLOWING
 * /default/fsm_node/states/LANE_FOLLOWING/transitions/in_charger: IN_CHARGING_AREA
 * /default/fsm_node/states/NORMAL_JOYSTICK_CONTROL/active_nodes: ['lane_filter_nod...
 * /default/fsm_node/states/NORMAL_JOYSTICK_CONTROL/current_status: implemented
 * /default/fsm_node/states/NORMAL_JOYSTICK_CONTROL/lights: ['joystick']
 * /default/fsm_node/states/NORMAL_JOYSTICK_CONTROL/transitions/joystick_override_off_and_deep_lane_off: LANE_FOLLOWING
 * /default/fsm_node/states/NORMAL_JOYSTICK_CONTROL/transitions/joystick_override_off_and_deep_lane_on:DEEP_LANE_FOLLOWING
 * /default/fsm_node/states/NORMAL_JOYSTICK_CONTROL/transitions/parallel_autonomy_on: SAFE_JOYSTICK_CON...
 * /default/fsm_node/states/SAFE_JOYSTICK_CONTROL/active_nodes: ['decoder_node', ...
 * /default/fsm_node/states/SAFE_JOYSTICK_CONTROL/current_status: implemented
 * /default/fsm_node/states/SAFE_JOYSTICK_CONTROL/lights: ['joystick']
 * /default/fsm_node/states/SAFE_JOYSTICK_CONTROL/transitions/joystick_override_off_and_deep_lane_off: LANE_FOLLOWING
 * /default/fsm_node/states/SAFE_JOYSTICK_CONTROL/transitions/joystick_override_off_and_deep_lane_on: DEEP_LANE_FOLLOWING
 * /default/fsm_node/states/SAFE_JOYSTICK_CONTROL/transitions/parallel_autonomy_off: NORMAL_JOYSTICK_C...
 * /default/ground_projection/config_file_name: default
 * /default/lane_controller_node/d_offset: 0.0
 * /default/lane_controller_node/d_thres: 0.2615
 * /default/lane_controller_node/k_Id: 1
 * /default/lane_controller_node/k_Iphi: 0.0
 * /default/lane_controller_node/k_d: -3.5
 * /default/lane_controller_node/k_theta: -1
 * /default/lane_controller_node/min_rad: 0.06
 * /default/lane_controller_node/theta_thres: 0.523
 * /default/lane_controller_node/use_rad_lim: False
 * /default/lane_controller_node/v_bar: 0.23
 * /default/lane_controller_node/wheel_distance: 0.103
 * /default/lane_filter_node/filter: ['lane_filter.Lan...
 * /default/lane_filter_node/use_propagation: True
 * /default/line_detector_node/detector: ['line_detector.L...
 * /default/line_detector_node/detector_intersection: ['line_detector.L...
 * /default/line_detector_node/img_size: [120, 160]
 * /default/line_detector_node/top_cutoff: 40
 * /default/line_detector_node/verbose: True
 * /default/logic_gate_node/events/apriltag_parking/msg_type: BoolStamped
 * /default/logic_gate_node/events/apriltag_parking/topic: apriltags_postpro...
 * /default/logic_gate_node/events/apriltag_parking/trigger: True
 * /default/logic_gate_node/events/at_stop_line/msg_type: BoolStamped
 * /default/logic_gate_node/events/at_stop_line/topic: stop_line_filter_...
 * /default/logic_gate_node/events/at_stop_line/trigger: True
 * /default/logic_gate_node/events/charging_exit/default: False
 * /default/logic_gate_node/events/charging_exit/msg_type: BoolStamped
 * /default/logic_gate_node/events/charging_exit/topic: charging_control_...
 * /default/logic_gate_node/events/charging_exit/trigger: True
 * /default/logic_gate_node/events/deep_lane_following_off/default: True
 * /default/logic_gate_node/events/deep_lane_following_off/msg_type: BoolStamped
 * /default/logic_gate_node/events/deep_lane_following_off/topic: joy_mapper_node/d...
 * /default/logic_gate_node/events/deep_lane_following_off/trigger: False
 * /default/logic_gate_node/events/deep_lane_following_on/default: False
 * /default/logic_gate_node/events/deep_lane_following_on/msg_type: BoolStamped
 * /default/logic_gate_node/events/deep_lane_following_on/topic: joy_mapper_node/d...
 * /default/logic_gate_node/events/deep_lane_following_on/trigger: True
 * /default/logic_gate_node/events/intersection_done/msg_type: BoolStamped
 * /default/logic_gate_node/events/intersection_done/topic: intersection_navi...
 * /default/logic_gate_node/events/intersection_done/trigger: True
 * /default/logic_gate_node/events/intersection_go_explicit/msg_type: BoolStamped
 * /default/logic_gate_node/events/intersection_go_explicit/topic: coordinator_node/...
 * /default/logic_gate_node/events/intersection_go_explicit/trigger: True
 * /default/logic_gate_node/events/intersection_go_implicit/msg_type: BoolStamped
 * /default/logic_gate_node/events/intersection_go_implicit/topic: implicit_intersec...
 * /default/logic_gate_node/events/intersection_go_implicit/trigger: True
 * /default/logic_gate_node/events/joystick_override_off/msg_type: BoolStamped
 * /default/logic_gate_node/events/joystick_override_off/topic: joy_mapper_node/j...
 * /default/logic_gate_node/events/joystick_override_off/trigger: False
 * /default/logic_gate_node/events/joystick_override_on/msg_type: BoolStamped
 * /default/logic_gate_node/events/joystick_override_on/topic: joy_mapper_node/j...
 * /default/logic_gate_node/events/joystick_override_on/trigger: True
 * /default/logic_gate_node/events/parallel_autonomy_off/default: True
 * /default/logic_gate_node/events/parallel_autonomy_off/msg_type: BoolStamped
 * /default/logic_gate_node/events/parallel_autonomy_off/topic: joy_mapper_node/p...
 * /default/logic_gate_node/events/parallel_autonomy_off/trigger: False
 * /default/logic_gate_node/events/parallel_autonomy_on/default: False
 * /default/logic_gate_node/events/parallel_autonomy_on/msg_type: BoolStamped
 * /default/logic_gate_node/events/parallel_autonomy_on/topic: joy_mapper_node/p...
 * /default/logic_gate_node/events/parallel_autonomy_on/trigger: True
 * /default/logic_gate_node/events/parking_off/default: True
 * /default/logic_gate_node/events/parking_off/msg_type: BoolStamped
 * /default/logic_gate_node/events/parking_off/topic: parking_on
 * /default/logic_gate_node/events/parking_off/trigger: False
 * /default/logic_gate_node/events/parking_on/default: False
 * /default/logic_gate_node/events/parking_on/msg_type: BoolStamped
 * /default/logic_gate_node/events/parking_on/topic: parking_on
 * /default/logic_gate_node/events/parking_on/trigger: True
 * /default/logic_gate_node/gates/at_stop_line_and_charging_exit/gate_type: AND
 * /default/logic_gate_node/gates/at_stop_line_and_charging_exit/inputs: ['at_stop_line', ...
 * /default/logic_gate_node/gates/at_stop_line_and_charging_exit/output_topic: ~at_stop_line_and...
 * /default/logic_gate_node/gates/at_stop_line_and_parking_off/gate_type: AND
 * /default/logic_gate_node/gates/at_stop_line_and_parking_off/inputs: ['at_stop_line', ...
 * /default/logic_gate_node/gates/at_stop_line_and_parking_off/output_topic: ~at_stop_line_and...
 * /default/logic_gate_node/gates/at_stop_line_and_parking_on/gate_type: AND
 * /default/logic_gate_node/gates/at_stop_line_and_parking_on/inputs: ['at_stop_line', ...
 * /default/logic_gate_node/gates/at_stop_line_and_parking_on/output_topic: ~at_stop_line_and...
 * /default/logic_gate_node/gates/intersection_done_and_deep_lane_off/gate_type: AND
 * /default/logic_gate_node/gates/intersection_done_and_deep_lane_off/inputs: ['intersection_do...
 * /default/logic_gate_node/gates/intersection_done_and_deep_lane_off/output_topic: ~intersection_don...
 * /default/logic_gate_node/gates/intersection_done_and_deep_lane_on/gate_type: AND
 * /default/logic_gate_node/gates/intersection_done_and_deep_lane_on/inputs: ['intersection_do...
 * /default/logic_gate_node/gates/intersection_done_and_deep_lane_on/output_topic: ~intersection_don...
 * /default/logic_gate_node/gates/intersection_go/gate_type: OR
 * /default/logic_gate_node/gates/intersection_go/inputs: ['intersection_go...
 * /default/logic_gate_node/gates/intersection_go/output_topic: ~intersection_go
 * /default/logic_gate_node/gates/joystick_override_off_and_deep_lane_off/gate_type: AND
 * /default/logic_gate_node/gates/joystick_override_off_and_deep_lane_off/inputs: ['joystick_overri...
 * /default/logic_gate_node/gates/joystick_override_off_and_deep_lane_off/output_topic: ~joystick_overrid...
 * /default/logic_gate_node/gates/joystick_override_off_and_deep_lane_on/gate_type: AND
 * /default/logic_gate_node/gates/joystick_override_off_and_deep_lane_on/inputs: ['joystick_overri...
 * /default/logic_gate_node/gates/joystick_override_off_and_deep_lane_on/output_topic: ~joystick_overrid...
 * /default/logic_gate_node/gates/joystick_override_on_and_parallel_autonomy_off/gate_type: AND
 * /default/logic_gate_node/gates/joystick_override_on_and_parallel_autonomy_off/inputs: ['joystick_overri...
 * /default/logic_gate_node/gates/joystick_override_on_and_parallel_autonomy_off/output_topic: ~joystick_overrid...
 * /default/logic_gate_node/gates/joystick_override_on_and_parallel_autonomy_on/gate_type: AND
 * /default/logic_gate_node/gates/joystick_override_on_and_parallel_autonomy_on/inputs: ['joystick_overri...
 * /default/logic_gate_node/gates/joystick_override_on_and_parallel_autonomy_on/output_topic: ~joystick_overrid...
 * /enable_statistics: False
 * /rosdistro: melodic
 * /rosversion: 1.14.3

NODES
  /default/
    anti_instagram_node (anti_instagram/anti_instagram_node.py)
    duckiebot_visualizer (duckiebot_visualizer/duckiebot_visualizer.py)
    fsm_node (fsm/fsm_node.py)
    ground_projection (ground_projection/ground_projection_node.py)
    lane_controller_node (lane_control/lane_controller_node.py)
    lane_filter_node (lane_filter/lane_filter_node.py)
    lane_pose_visualizer_node (lane_filter/lane_pose_visualizer_node.py)
    line_detector_node (sw_06_line_detector/line_detector_node.py)
    logic_gate_node (fsm/logic_gate_node.py)
  /
    default_to_map (tf/static_transform_publisher)

ROS_MASTER_URI=http://sim:11311

process[default/fsm_node-1]: started with pid [14411]
process[default/logic_gate_node-2]: started with pid [14412]
[INFO] [1573066444.563232]: [/default/fsm_node] Initialized.
[INFO] [1573066444.564940]: [/default/fsm_node] FSMState: NORMAL_JOYSTICK_CONTROL
process[default/line_detector_node-3]: started with pid [14420]
process[default/ground_projection-4]: started with pid [14429]
process[default/duckiebot_visualizer-5]: started with pid [14482]
process[default_to_map-6]: started with pid [14487]
[INFO] [1573066445.733360]: [/default/duckiebot_visualizer] Initialzing.
[INFO] [1573066445.738994]: [/default/duckiebot_visualizer] ~veh_name = default
[INFO] [1573066445.800700]: [/default/duckiebot_visualizer] Initialzed.
process[default/lane_filter_node-7]: started with pid [14492]
process[default/lane_controller_node-8]: started with pid [14500]
[INFO] [1573066446.833503]: [/default/lane_controller_node] ~v_bar = 0.23
[INFO] [1573066446.835578]: [/default/lane_controller_node] ~k_d = -3.5
[INFO] [1573066446.837437]: [/default/lane_controller_node] ~k_theta = -1
[INFO] [1573066446.839295]: [/default/lane_controller_node] ~d_thres = 0.2615
[INFO] [1573066446.841229]: [/default/lane_controller_node] ~theta_thres = 0.523
[INFO] [1573066446.843160]: [/default/lane_controller_node] ~d_offset = 0.0
[INFO] [1573066446.845055]: [/default/lane_controller_node] ~k_Id = 1
[INFO] [1573066446.846857]: [/default/lane_controller_node] ~k_Iphi = 0.0
[INFO] [1573066446.854239]: [/default/lane_controller_node] ~use_feedforward_part = False
[INFO] [1573066446.866332]: [/default/lane_controller_node] ~omega_ff = 0
[INFO] [1573066446.878387]: [/default/lane_controller_node] ~omega_max = 999
[INFO] [1573066446.894347]: [/default/lane_controller_node] ~omega_min = -999
process[default/lane_pose_visualizer_node-9]: started with pid [14501]
[INFO] [1573066446.903504]: [/default/lane_controller_node] ~use_radius_limit = True
[INFO] [1573066446.927311]: [/default/lane_controller_node] ~min_rad = 0.06
[INFO] [1573066446.931806]: [/default/lane_controller_node] ~d_ref = 0
[INFO] [1573066446.945456]: [/default/lane_controller_node] ~phi_ref = 0
[INFO] [1573066446.949823]: [/default/lane_controller_node] ~object_detected = 0
[INFO] [1573066447.026849]: [/default/lane_controller_node] Initialized
[INFO] [1573066447.077812]: active: False
fsm_state changed in lane_controller_node to:  NORMAL_JOYSTICK_CONTROL
process[default/anti_instagram_node-10]: started with pid [14512]
[INFO] [1573066447.789056]: [/default/lane_pose_visualizer_node] Initialzing.
[INFO] [1573066447.791083]: [/default/lane_pose_visualizer_node] Vehicle name: default
[INFO] [1573066447.802625]: [/default/lane_pose_visualizer_node] Initialzed.
[INFO] [1573066449.058405]: [Lane Filter] new filter config: ['lane_filter.LaneFilterHistogram', {'configuration': {'lanewidth': 0.23, 'range_min': 0.2, 'range_max': 0.6, 'd_max': 0.3, 'linewidth_white': 0.05, 'phi_min': -1.5, 'sigma_d_0': 0.1, 'curvature_res': 0, 'phi_max': 1.5, 'curvature_right': -0.054, 'mean_d_0': 0, 'sigma_d_mask': 1.0, 'mean_phi_0': 0, 'd_min': -0.15, 'linewidth_yellow': 0.025, 'curvature_left': 0.025, 'min_max': 0.1, 'range_est': 0.33, 'delta_d': 0.02, 'cov_v': 0.5, 'sigma_phi_mask': 2.0, 'sigma_phi_0': 0.1, 'delta_phi': 0.1}}]
[INFO] [1573066449.991892]: [/default/anti_instagram_node] ~ai_interval = 5
[INFO] [1573066449.997395]: [/default/anti_instagram_node] ~cb_percentage = 0.8
[INFO] [1573066450.001441]: [/default/anti_instagram_node] ~scale_percent = 0.4
[INFO] [1573066450.005212]: [/default/anti_instagram_node] ~resize = 0.2
[INFO] [1573066450.135211]: [/default/anti_instagram_node] New parameters computed
/usr/local/lib/python2.7/dist-packages/numba/errors.py:137: UserWarning: Insufficiently recent coloramaversion found. Numba requires colorama >= 0.3.9
  warnings.warn(msg)
[INFO] [1573066455.012101]: [/default/anti_instagram_node] New parameters computed
[INFO] [1573066460.014031]: [/default/anti_instagram_node] New parameters computed
[INFO] [1573066463.349091]: [LineDetectorNode] Verbose is now True