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  1. jacob@jacob-desktop:~/beer-bot$ ros2 launch code/bot/mapping-bringup/launch/systems_bringup_launch.xml
  2. [INFO] [launch]: All log files can be found below /home/jacob/.ros/log/2021-08-02-14-38-36-058327-jacob-desktop-6789
  3. [INFO] [launch]: Default logging verbosity is set to INFO
  4. [INFO] [static_transform_publisher-1]: process started with pid [6792]
  5. [INFO] [rplidar_composition-2]: process started with pid [6794]
  6. [INFO] [create_driver-3]: process started with pid [6796]
  7. [INFO] [robot_state_publisher-4]: process started with pid [6798]
  8. [INFO] [lifelong_slam_toolbox_node-5]: process started with pid [6800]
  9. [INFO] [controller_server-6]: process started with pid [6803]
  10. [INFO] [planner_server-7]: process started with pid [6815]
  11. [INFO] [recoveries_server-8]: process started with pid [6836]
  12. [INFO] [bt_navigator-9]: process started with pid [6842]
  13. [INFO] [waypoint_follower-10]: process started with pid [6847]
  14. [INFO] [lifecycle_manager-11]: process started with pid [6851]
  15. [static_transform_publisher-1] [INFO] [1627933117.827782147] [tf2_ros_fp_laser]: Spinning until killed publishing transform from 'base_link' to 'laser'
  16. [robot_state_publisher-4] Parsing robot urdf xml string.
  17. [robot_state_publisher-4] Link base_link had 9 children
  18. [robot_state_publisher-4] Link left_cliff_sensor_link had 0 children
  19. [robot_state_publisher-4] Link leftfront_cliff_sensor_link had 0 children
  20. [robot_state_publisher-4] Link right_cliff_sensor_link had 0 children
  21. [robot_state_publisher-4] Link rightfront_cliff_sensor_link had 0 children
  22. [robot_state_publisher-4] Link wall_sensor_link had 0 children
  23. [robot_state_publisher-4] Link front_wheel_link had 0 children
  24. [robot_state_publisher-4] Link gyro_link had 0 children
  25. [robot_state_publisher-4] Link left_wheel_link had 0 children
  26. [robot_state_publisher-4] Link right_wheel_link had 0 children
  27. [robot_state_publisher-4] [INFO] [1627933118.069079492] [robot_state_publisher]: got segment base_footprint
  28. [robot_state_publisher-4] [INFO] [1627933118.072235002] [robot_state_publisher]: got segment base_link
  29. [robot_state_publisher-4] [INFO] [1627933118.072343002] [robot_state_publisher]: got segment front_wheel_link
  30. [robot_state_publisher-4] [INFO] [1627933118.072381280] [robot_state_publisher]: got segment gyro_link
  31. [robot_state_publisher-4] [INFO] [1627933118.072414817] [robot_state_publisher]: got segment left_cliff_sensor_link
  32. [robot_state_publisher-4] [INFO] [1627933118.072444688] [robot_state_publisher]: got segment left_wheel_link
  33. [robot_state_publisher-4] [INFO] [1627933118.072475095] [robot_state_publisher]: got segment leftfront_cliff_sensor_link
  34. [robot_state_publisher-4] [INFO] [1627933118.072504669] [robot_state_publisher]: got segment right_cliff_sensor_link
  35. [robot_state_publisher-4] [INFO] [1627933118.073502098] [robot_state_publisher]: got segment right_wheel_link
  36. [robot_state_publisher-4] [INFO] [1627933118.073604802] [robot_state_publisher]: got segment rightfront_cliff_sensor_link
  37. [robot_state_publisher-4] [INFO] [1627933118.073647765] [robot_state_publisher]: got segment wall_sensor_link
  38. [rplidar_composition-2] [INFO] [1627933118.083313666] [rplidar_composition]: RPLIDAR running on ROS 2 package rplidar_ros. SDK Version: '1.12.0'
  39. [create_driver-3] [INFO] [1627933118.125181445] [create_driver]: [CREATE] "CREATE_2" selected
  40. [bt_navigator-9] [INFO] [1627933118.668264415] [bt_navigator]:
  41. [bt_navigator-9] bt_navigator lifecycle node launched.
  42. [bt_navigator-9] Waiting on external lifecycle transitions to activate
  43. [bt_navigator-9] See https://design.ros2.org/articles/node_lifecycle.html for more information.
  44. [bt_navigator-9] [INFO] [1627933118.675303178] [bt_navigator]: Creating
  45. [lifecycle_manager-11] [INFO] [1627933118.728899623] [lifecycle_manager_navigation]: Creating
  46. [waypoint_follower-10] [INFO] [1627933118.758939753] [waypoint_follower]:
  47. [waypoint_follower-10] waypoint_follower lifecycle node launched.
  48. [waypoint_follower-10] Waiting on external lifecycle transitions to activate
  49. [waypoint_follower-10] See https://design.ros2.org/articles/node_lifecycle.html for more information.
  50. [waypoint_follower-10] [INFO] [1627933118.762112319] [waypoint_follower]: Creating
  51. [recoveries_server-8] [INFO] [1627933118.796330592] [recoveries_server]:
  52. [recoveries_server-8] recoveries_server lifecycle node launched.
  53. [recoveries_server-8] Waiting on external lifecycle transitions to activate
  54. [recoveries_server-8] See https://design.ros2.org/articles/node_lifecycle.html for more information.
  55. [controller_server-6] [INFO] [1627933118.907920070] [controller_server]:
  56. [controller_server-6] controller_server lifecycle node launched.
  57. [controller_server-6] Waiting on external lifecycle transitions to activate
  58. [controller_server-6] See https://design.ros2.org/articles/node_lifecycle.html for more information.
  59. [planner_server-7] [INFO] [1627933118.942262343] [planner_server]:
  60. [planner_server-7] planner_server lifecycle node launched.
  61. [planner_server-7] Waiting on external lifecycle transitions to activate
  62. [planner_server-7] See https://design.ros2.org/articles/node_lifecycle.html for more information.
  63. [planner_server-7] [INFO] [1627933118.951897836] [planner_server]: Creating
  64. [controller_server-6] [INFO] [1627933118.979476126] [controller_server]: Creating controller server
  65. [lifecycle_manager-11] [INFO] [1627933119.156255140] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
  66. [create_driver-3] [INFO] [1627933119.355507187] [create_driver]: [CREATE] Connection established.
  67. [create_driver-3] [INFO] [1627933119.355729336] [create_driver]: [CREATE] Battery level 87.04 %
  68. [lifecycle_manager-11] [INFO] [1627933119.417597899] [lifecycle_manager_navigation]: Starting managed nodes bringup...
  69. [lifecycle_manager-11] [INFO] [1627933119.417774455] [lifecycle_manager_navigation]: Configuring controller_server
  70. [lifelong_slam_toolbox_node-5] [INFO] [1627933119.437498387] [slam_toolbox]: Node using stack size 40000000
  71. [planner_server-7] [INFO] [1627933119.517009061] [global_costmap.global_costmap]:
  72. [planner_server-7] global_costmap lifecycle node launched.
  73. [planner_server-7] Waiting on external lifecycle transitions to activate
  74. [planner_server-7] See https://design.ros2.org/articles/node_lifecycle.html for more information.
  75. [planner_server-7] [INFO] [1627933119.526308034] [global_costmap.global_costmap]: Creating Costmap
  76. [controller_server-6] [INFO] [1627933119.601059101] [local_costmap.local_costmap]:
  77. [controller_server-6] local_costmap lifecycle node launched.
  78. [controller_server-6] Waiting on external lifecycle transitions to activate
  79. [controller_server-6] See https://design.ros2.org/articles/node_lifecycle.html for more information.
  80. [controller_server-6] [INFO] [1627933119.619364380] [local_costmap.local_costmap]: Creating Costmap
  81. [create_driver-3] [INFO] [1627933119.819128910] [create_driver]: [CREATE] Ready.
  82. [controller_server-6] [INFO] [1627933119.870799182] [controller_server]: Configuring controller interface
  83. [controller_server-6] [INFO] [1627933119.874471675] [controller_server]: Controller frequency set to 6.0000Hz
  84. [controller_server-6] [INFO] [1627933119.883343073] [local_costmap.local_costmap]: Configuring
  85. [lifelong_slam_toolbox_node-5] [WARN] [1627933119.906387904] [slam_toolbox]: Lifelong mapping mode in SLAM Toolbox is considered experimental and should be understood before proceeding. Please visit: https://github.com/SteveMacenski/slam_toolbox/wiki/Experimental-Lifelong-Mapping-Node for more information.
  86. [controller_server-6] [INFO] [1627933119.958806253] [local_costmap.local_costmap]: Using plugin "voxel_layer"
  87. [controller_server-6] [INFO] [1627933120.000759772] [local_costmap.local_costmap]: Subscribed to Topics: scan
  88. [controller_server-6] [INFO] [1627933120.045559690] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
  89. [controller_server-6] [INFO] [1627933120.045695116] [local_costmap.local_costmap]: Using plugin "inflation_layer"
  90. [controller_server-6] [INFO] [1627933120.058212840] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
  91. [controller_server-6] [INFO] [1627933120.133278334] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
  92. [controller_server-6] [INFO] [1627933120.139799465] [controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker
  93. [controller_server-6] [INFO] [1627933120.158508357] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
  94. [controller_server-6] [INFO] [1627933120.169293224] [controller_server]: Setting transform_tolerance to 0.200000
  95. [lifelong_slam_toolbox_node-5] [INFO] [1627933120.179245995] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
  96. [lifelong_slam_toolbox_node-5] [INFO] [1627933120.194657469] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
  97. [controller_server-6] [INFO] [1627933120.366298615] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
  98. [controller_server-6] [INFO] [1627933120.371661595] [controller_server]: Critic plugin initialized
  99. [controller_server-6] [INFO] [1627933120.377439650] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
  100. [controller_server-6] [INFO] [1627933120.388763667] [controller_server]: Critic plugin initialized
  101. [controller_server-6] [INFO] [1627933120.393401941] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
  102. [controller_server-6] [INFO] [1627933120.399669442] [controller_server]: Critic plugin initialized
  103. [controller_server-6] [INFO] [1627933120.400091073] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
  104. [controller_server-6] [INFO] [1627933120.410428197] [controller_server]: Critic plugin initialized
  105. [controller_server-6] [INFO] [1627933120.413393429] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
  106. [controller_server-6] [INFO] [1627933120.416847588] [controller_server]: Critic plugin initialized
  107. [controller_server-6] [INFO] [1627933120.417375071] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
  108. [controller_server-6] [INFO] [1627933120.423667868] [controller_server]: Critic plugin initialized
  109. [controller_server-6] [INFO] [1627933120.423975943] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
  110. [controller_server-6] [INFO] [1627933120.425294873] [controller_server]: Critic plugin initialized
  111. [controller_server-6] [INFO] [1627933120.425435726] [controller_server]: Controller Server has FollowPath controllers available.
  112. [lifecycle_manager-11] [INFO] [1627933120.473564024] [lifecycle_manager_navigation]: Configuring planner_server
  113. [planner_server-7] [INFO] [1627933120.474849991] [planner_server]: Configuring
  114. [planner_server-7] [INFO] [1627933120.474974176] [global_costmap.global_costmap]: Configuring
  115. [planner_server-7] [INFO] [1627933120.506271737] [global_costmap.global_costmap]: Using plugin "static_layer"
  116. [planner_server-7] [INFO] [1627933120.527038931] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with volatile durability
  117. [planner_server-7] [INFO] [1627933120.534669270] [global_costmap.global_costmap]: Initialized plugin "static_layer"
  118. [planner_server-7] [INFO] [1627933120.534834715] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
  119. [planner_server-7] [INFO] [1627933120.545188469] [global_costmap.global_costmap]: Subscribed to Topics: scan
  120. [planner_server-7] [INFO] [1627933120.571244477] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
  121. [planner_server-7] [INFO] [1627933120.571390996] [global_costmap.global_costmap]: Using plugin "inflation_layer"
  122. [planner_server-7] [INFO] [1627933120.577578904] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
  123. [rplidar_composition-2] [INFO] [1627933120.596961464] [rplidar_composition]: RPLIDAR S/N: 76BE9A86C0E09CC9A2E09DF7E46C3079
  124. [rplidar_composition-2] [INFO] [1627933120.597113779] [rplidar_composition]: Firmware Ver: 1.28
  125. [rplidar_composition-2] [INFO] [1627933120.597158187] [rplidar_composition]: Hardware Rev: 5
  126. [rplidar_composition-2] [INFO] [1627933120.600068344] [rplidar_composition]: RPLidar health status : '0'
  127. [planner_server-7] [INFO] [1627933120.649963463] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
  128. [planner_server-7] [INFO] [1627933120.650355408] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
  129. [planner_server-7] [INFO] [1627933120.713781828] [planner_server]: Planner Server has GridBased planners available.
  130. [lifecycle_manager-11] [INFO] [1627933120.760697326] [lifecycle_manager_navigation]: Configuring recoveries_server
  131. [recoveries_server-8] [INFO] [1627933120.761781126] [recoveries_server]: Configuring
  132. [recoveries_server-8] [INFO] [1627933120.800571877] [recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin
  133. [recoveries_server-8] [INFO] [1627933120.805169817] [recoveries_server]: Configuring spin
  134. [recoveries_server-8] [INFO] [1627933120.850983015] [recoveries_server]: Creating recovery plugin back_up of type nav2_recoveries/BackUp
  135. [recoveries_server-8] [INFO] [1627933120.859103855] [recoveries_server]: Configuring back_up
  136. [recoveries_server-8] [INFO] [1627933120.895218283] [recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait
  137. [recoveries_server-8] [INFO] [1627933120.902143323] [recoveries_server]: Configuring wait
  138. [lifecycle_manager-11] [INFO] [1627933120.948531504] [lifecycle_manager_navigation]: Configuring bt_navigator
  139. [bt_navigator-9] [INFO] [1627933120.951556551] [bt_navigator]: Configuring
  140. [rplidar_composition-2] [INFO] [1627933121.146233658] [rplidar_composition]: current scan mode: Express, max_distance: 12.0 m, Point number: 4.0K , angle_compensate: 1, flip_x_axis 0
  141. [bt_navigator-9] [INFO] [1627933121.173602613] [bt_navigator_rclcpp_node]: Waiting for "compute_path_to_pose" action server
  142. [bt_navigator-9] [INFO] [1627933121.174509579] [bt_navigator_rclcpp_node]: "ComputePathToPose" BtActionNode initialized
  143. [bt_navigator-9] [INFO] [1627933121.185866003] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
  144. [bt_navigator-9] [INFO] [1627933121.186247597] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Context" BtServiceNode initialized
  145. [bt_navigator-9] [INFO] [1627933121.228672748] [bt_navigator_rclcpp_node]: Waiting for "follow_path" action server
  146. [bt_navigator-9] [INFO] [1627933121.229083897] [bt_navigator_rclcpp_node]: "FollowPath" BtActionNode initialized
  147. [bt_navigator-9] [INFO] [1627933121.239396170] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
  148. [bt_navigator-9] [INFO] [1627933121.239720616] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Context" BtServiceNode initialized
  149. [bt_navigator-9] [INFO] [1627933121.250830650] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
  150. [bt_navigator-9] [INFO] [1627933121.251159651] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Subtree" BtServiceNode initialized
  151. [bt_navigator-9] [INFO] [1627933121.260857126] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
  152. [bt_navigator-9] [INFO] [1627933121.261184960] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Subtree" BtServiceNode initialized
  153. [bt_navigator-9] [INFO] [1627933121.295408326] [bt_navigator_rclcpp_node]: Waiting for "spin" action server
  154. [bt_navigator-9] [INFO] [1627933121.296230625] [bt_navigator_rclcpp_node]: "Spin" BtActionNode initialized
  155. [bt_navigator-9] [INFO] [1627933121.333691649] [bt_navigator_rclcpp_node]: Waiting for "wait" action server
  156. [bt_navigator-9] [INFO] [1627933121.334530041] [bt_navigator_rclcpp_node]: "Wait" BtActionNode initialized
  157. [lifecycle_manager-11] [INFO] [1627933121.342307917] [lifecycle_manager_navigation]: Configuring waypoint_follower
  158. [waypoint_follower-10] [INFO] [1627933121.343761996] [waypoint_follower]: Configuring
  159. [lifecycle_manager-11] [INFO] [1627933121.489801210] [lifecycle_manager_navigation]: Activating controller_server
  160. [controller_server-6] [INFO] [1627933121.490605231] [controller_server]: Activating
  161. [controller_server-6] [INFO] [1627933121.490704583] [local_costmap.local_costmap]: Activating
  162. [controller_server-6] [INFO] [1627933121.490779139] [local_costmap.local_costmap]: Checking transform
  163. [controller_server-6] [INFO] [1627933121.491069733] [local_costmap.local_costmap]: start
  164. [lifecycle_manager-11] [INFO] [1627933121.500186409] [lifecycle_manager_navigation]: Activating planner_server
  165. [planner_server-7] [INFO] [1627933121.503632938] [planner_server]: Activating
  166. [planner_server-7] [INFO] [1627933121.503769365] [global_costmap.global_costmap]: Activating
  167. [planner_server-7] [INFO] [1627933121.503819587] [global_costmap.global_costmap]: Checking transform
  168. [planner_server-7] [INFO] [1627933121.504166496] [global_costmap.global_costmap]: start
  169. [planner_server-7] [INFO] [1627933121.556483677] [planner_server]: Activating plugin GridBased of type NavfnPlanner
  170. [lifecycle_manager-11] [INFO] [1627933121.559107871] [lifecycle_manager_navigation]: Activating recoveries_server
  171. [recoveries_server-8] [INFO] [1627933121.560399578] [recoveries_server]: Activating
  172. [recoveries_server-8] [INFO] [1627933121.560580690] [recoveries_server]: Activating spin
  173. [recoveries_server-8] [INFO] [1627933121.560651635] [recoveries_server]: Activating back_up
  174. [recoveries_server-8] [INFO] [1627933121.560743246] [recoveries_server]: Activating wait
  175. [lifecycle_manager-11] [INFO] [1627933121.564713536] [lifecycle_manager_navigation]: Activating bt_navigator
  176. [bt_navigator-9] [INFO] [1627933121.565817836] [bt_navigator]: Activating
  177. [lifecycle_manager-11] [INFO] [1627933121.574277714] [lifecycle_manager_navigation]: Activating waypoint_follower
  178. [waypoint_follower-10] [INFO] [1627933121.575397884] [waypoint_follower]: Activating
  179. [lifecycle_manager-11] [INFO] [1627933121.577431576] [lifecycle_manager_navigation]: Managed nodes are active
  180. [lifelong_slam_toolbox_node-5] [WARN] [1627933122.223239978] [slam_toolbox]: maximum laser range setting (20.0 m) exceeds the capabilities of the used Lidar (12.0 m)
  181. [lifelong_slam_toolbox_node-5] Registering sensor: [Custom Described Lidar]
  182. [planner_server-7] [WARN] [1627933122.510230632] [global_costmap.global_costmap]: Sensor origin at (-0.09, -0.00) is out of map bounds. The costmap cannot raytrace for it.
  183. [planner_server-7] [WARN] [1627933123.510263156] [global_costmap.global_costmap]: Sensor origin at (-0.09, -0.00) is out of map bounds. The costmap cannot raytrace for it.
  184. [planner_server-7] [WARN] [1627933124.510188403] [global_costmap.global_costmap]: Sensor origin at (-0.09, -0.00) is out of map bounds. The costmap cannot raytrace for it.
  185. [planner_server-7] [INFO] [1627933125.349528778] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 75 X 106 at 0.050000 m/pix
  186. [lifelong_slam_toolbox_node-5] Load From File /home/jacob/beer-bot/pozeywozey.posegraph
  187. [lifelong_slam_toolbox_node-5] Mapper <- Module
  188. [lifelong_slam_toolbox_node-5] Mapper <- m_pSequentialScanMatcher
  189. [lifelong_slam_toolbox_node-5] Mapper <- m_pGraph
  190. [lifelong_slam_toolbox_node-5] MapperGraph <- Graph; Graph <- m_Edges; Graph <- m_Vertices
  191. [lifelong_slam_toolbox_node-5] MapperGraph <- m_pMapper; MapperGraph <- m_pLoopScanMatcher; MapperGraph <- m_pTraversal
  192. [lifelong_slam_toolbox_node-5] Mapper <- m_pMapperSensorManager
  193. [lifelong_slam_toolbox_node-5] MapperSensorManager <- m_ScanManagers; MapperSensorManager <- m_Scans
  194. [lifelong_slam_toolbox_node-5] Mapper <- m_Listeners
  195. [lifelong_slam_toolbox_node-5] **Finished serializing Mapper**
  196. [lifelong_slam_toolbox_node-5] Load From File
  197. [lifelong_slam_toolbox_node-5] **Serializing Dataset**
  198. [lifelong_slam_toolbox_node-5] Dataset <- m_SensorNameLookup
  199. [lifelong_slam_toolbox_node-5] Dataset <- m_Data
  200. [lifelong_slam_toolbox_node-5] Dataset <- m_Lasers
  201. [lifelong_slam_toolbox_node-5] Dataset <- m_pDatasetInfo
  202. [lifelong_slam_toolbox_node-5] **Finished serializing Dataset**
  203. [lifelong_slam_toolbox_node-5] Unregistering sensor: Custom Described Lidar
  204. [lifelong_slam_toolbox_node-5] Registering sensor: [Custom Described Lidar]
  205. [lifelong_slam_toolbox_node-5] [WARN] [1627933138.872983689] [slam_toolbox]: maximum laser range setting (20.0 m) exceeds the capabilities of the used Lidar (12.0 m)
  206. [planner_server-7] [INFO] [1627933138.874935047] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 151 X 141 at 0.050000 m/pix
  207. [lifelong_slam_toolbox_node-5] Registering sensor: [Custom Described Lidar]
  208. [lifelong_slam_toolbox_node-5] [INFO] [1627933138.941244976] [slam_toolbox]: Metric Scores: Initial: 0.839519, IOU: 0.780966, Area: 0.829599, Num Con: 2, Reading: 0.959627, outcome score: 0.788743.
  209. [lifelong_slam_toolbox_node-5] [INFO] [1627933138.941631107] [slam_toolbox]: Metric Scores: Initial: 0.845870, IOU: 0.613812, Area: 0.627600, Num Con: 2, Reading: 0.882006, outcome score: 0.807214.
  210. [lifelong_slam_toolbox_node-5] [INFO] [1627933138.941987923] [slam_toolbox]: Metric Scores: Initial: 0.886596, IOU: 0.593810, Area: 0.814628, Num Con: 2, Reading: 0.911243, outcome score: 0.836719.
  211. [lifelong_slam_toolbox_node-5] [INFO] [1627933138.942926907] [slam_toolbox]: Metric Scores: Initial: 0.845080, IOU: 0.531123, Area: 0.591333, Num Con: 2, Reading: 0.827988, outcome score: 0.808600.
  212. [lifelong_slam_toolbox_node-5] [INFO] [1627933138.943337557] [slam_toolbox]: Metric Scores: Initial: 0.996846, IOU: 0.489940, Area: 0.752860, Num Con: 3, Reading: 0.950725, outcome score: 0.995703.
  213. [lifelong_slam_toolbox_node-5] [INFO] [1627933138.943566058] [slam_toolbox]: Metric Scores: Initial: 0.999000, IOU: 0.403058, Area: 0.653739, Num Con: 3, Reading: 0.967427, outcome score: 0.997961.
  214. [lifelong_slam_toolbox_node-5] [INFO] [1627933138.943733928] [slam_toolbox]: Metric Scores: Initial: 0.906135, IOU: 0.417592, Area: 0.674704, Num Con: 2, Reading: 0.968153, outcome score: 0.864653.
  215. [lifelong_slam_toolbox_node-5] [INFO] [1627933138.945818176] [slam_toolbox]: Metric Scores: Initial: 1.000000, IOU: 0.401246, Area: 0.652565, Num Con: 2, Reading: 0.967105, outcome score: 0.959846.
  216. [bt_navigator-9] [INFO] [1627933143.903909463] [bt_navigator]: Begin navigating from current location to (4.00, 1.00)
  217. [controller_server-6] [INFO] [1627933143.963429611] [controller_server]: Received a goal, begin computing control effort.
  218. [controller_server-6] [INFO] [1627933145.131932050] [controller_server]: Passing new path to controller.
  219. [controller_server-6] [INFO] [1627933146.132783521] [controller_server]: Passing new path to controller.
  220. [lifelong_slam_toolbox_node-5] [INFO] [1627933146.563755235] [slam_toolbox]: Metric Scores: Initial: 0.788743, IOU: 0.878679, Area: 0.962977, Num Con: 2, Reading: 0.965839, outcome score: -1.000000.
  221. [lifelong_slam_toolbox_node-5] [INFO] [1627933146.564107699] [slam_toolbox]: Metric Scores: Initial: 0.807214, IOU: 0.731536, Area: 0.748553, Num Con: 2, Reading: 0.893805, outcome score: 0.761301.
  222. [lifelong_slam_toolbox_node-5] [INFO] [1627933146.564295866] [slam_toolbox]: Metric Scores: Initial: 0.836719, IOU: 0.585992, Area: 0.889973, Num Con: 2, Reading: 0.911243, outcome score: 0.782320.
  223. [lifelong_slam_toolbox_node-5] [INFO] [1627933146.564437422] [slam_toolbox]: Metric Scores: Initial: 0.808600, IOU: 0.597841, Area: 0.687206, Num Con: 2, Reading: 0.842566, outcome score: 0.766368.
  224. [lifelong_slam_toolbox_node-5] [INFO] [1627933146.564594274] [slam_toolbox]: Metric Scores: Initial: 0.995703, IOU: 0.462987, Area: 0.800983, Num Con: 3, Reading: 0.950725, outcome score: 0.994497.
  225. [lifelong_slam_toolbox_node-5] [INFO] [1627933146.564753460] [slam_toolbox]: Metric Scores: Initial: 0.997961, IOU: 0.387099, Area: 0.701755, Num Con: 3, Reading: 0.967427, outcome score: 0.996875.
  226. [lifelong_slam_toolbox_node-5] [INFO] [1627933146.564891535] [slam_toolbox]: Metric Scores: Initial: 0.864653, IOU: 0.399252, Area: 0.722488, Num Con: 2, Reading: 0.968153, outcome score: 0.820304.
  227. [lifelong_slam_toolbox_node-5] [INFO] [1627933146.565053128] [slam_toolbox]: Metric Scores: Initial: 0.959846, IOU: 0.385548, Area: 0.700792, Num Con: 2, Reading: 0.967105, outcome score: 0.916799.
  228. [lifelong_slam_toolbox_node-5] [INFO] [1627933146.565194573] [slam_toolbox]: Metric Scores: Initial: 1.000000, IOU: 0.380498, Area: 0.695920, Num Con: 2, Reading: 0.966997, outcome score: 0.957245.
  229. [controller_server-6] [INFO] [1627933147.132157895] [controller_server]: Passing new path to controller.
  230. [controller_server-6] [INFO] [1627933148.131894937] [controller_server]: Passing new path to controller.
  231. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.495113180] [slam_toolbox]: Metric Scores: Initial: 0.859422, IOU: 0.838256, Area: 0.997133, Num Con: 2, Reading: 0.944118, outcome score: 0.801775.
  232. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.500263159] [slam_toolbox]: Metric Scores: Initial: 0.863248, IOU: 0.914479, Area: 0.951110, Num Con: 2, Reading: 0.923529, outcome score: -1.000000.
  233. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.500427623] [slam_toolbox]: Metric Scores: Initial: 0.993575, IOU: 0.767250, Area: 0.867636, Num Con: 3, Reading: 0.870871, outcome score: 0.992241.
  234. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.500618142] [slam_toolbox]: Metric Scores: Initial: 0.992524, IOU: 0.711996, Area: 0.783719, Num Con: 3, Reading: 0.884375, outcome score: 0.991172.
  235. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.500702068] [slam_toolbox]: Metric Scores: Initial: 0.983707, IOU: 0.739404, Area: 0.848278, Num Con: 3, Reading: 0.888535, outcome score: 0.981877.
  236. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.500772254] [slam_toolbox]: Metric Scores: Initial: 0.991369, IOU: 0.560727, Area: 0.837727, Num Con: 3, Reading: 0.871560, outcome score: 0.989936.
  237. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.500830420] [slam_toolbox]: Metric Scores: Initial: 0.985003, IOU: 0.610926, Area: 0.874023, Num Con: 3, Reading: 0.894904, outcome score: 0.983217.
  238. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.500886106] [slam_toolbox]: Metric Scores: Initial: 0.599164, IOU: 0.654499, Area: 0.832269, Num Con: 2, Reading: 0.861940, outcome score: 0.548228.
  239. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.500950106] [slam_toolbox]: Metric Scores: Initial: 0.843427, IOU: 0.542186, Area: 0.827986, Num Con: 2, Reading: 0.872671, outcome score: 0.792748.
  240. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501002569] [slam_toolbox]: Metric Scores: Initial: 0.987882, IOU: 0.565035, Area: 0.839523, Num Con: 3, Reading: 0.871383, outcome score: 0.986271.
  241. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501055273] [slam_toolbox]: Metric Scores: Initial: 0.751070, IOU: 0.581082, Area: 0.846765, Num Con: 2, Reading: 0.884013, outcome score: 0.699264.
  242. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501113458] [slam_toolbox]: Metric Scores: Initial: 0.620723, IOU: 0.642310, Area: 0.758421, Num Con: 2, Reading: 0.859532, outcome score: 0.574217.
  243. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501177792] [slam_toolbox]: Metric Scores: Initial: 0.782320, IOU: 0.480181, Area: 0.899273, Num Con: 2, Reading: 0.911243, outcome score: 0.727364.
  244. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501232162] [slam_toolbox]: Metric Scores: Initial: 0.831752, IOU: 0.554232, Area: 0.829230, Num Con: 2, Reading: 0.868852, outcome score: 0.780998.
  245. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501289589] [slam_toolbox]: Metric Scores: Initial: 0.699855, IOU: 0.494672, Area: 0.704016, Num Con: 2, Reading: 0.780255, outcome score: 0.656614.
  246. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501351700] [slam_toolbox]: Metric Scores: Initial: 0.994497, IOU: 0.382948, Area: 0.810200, Num Con: 3, Reading: 0.950725, outcome score: 0.993229.
  247. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501405348] [slam_toolbox]: Metric Scores: Initial: 0.980816, IOU: 0.384274, Area: 0.627813, Num Con: 3, Reading: 0.714734, outcome score: 0.979093.
  248. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501469404] [slam_toolbox]: Metric Scores: Initial: 0.996875, IOU: 0.323998, Area: 0.710952, Num Con: 3, Reading: 0.967427, outcome score: 0.995742.
  249. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501523645] [slam_toolbox]: Metric Scores: Initial: 0.820304, IOU: 0.333229, Area: 0.731640, Num Con: 2, Reading: 0.968153, outcome score: 0.775405.
  250. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501576312] [slam_toolbox]: Metric Scores: Initial: 0.985094, IOU: 0.307293, Area: 0.562799, Num Con: 3, Reading: 0.590361, outcome score: 0.983591.
  251. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501630608] [slam_toolbox]: Metric Scores: Initial: 0.435672, IOU: 0.382968, Area: 0.623556, Num Con: 2, Reading: 0.688623, outcome score: 0.397259.
  252. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501682349] [slam_toolbox]: Metric Scores: Initial: 1.000000, IOU: 0.311917, Area: 0.695124, Num Con: 2, Reading: 0.970588, outcome score: 0.957293.
  253. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501736738] [slam_toolbox]: Metric Scores: Initial: 0.916799, IOU: 0.322733, Area: 0.710029, Num Con: 2, Reading: 0.967105, outcome score: 0.873197.
  254. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501790553] [slam_toolbox]: Metric Scores: Initial: 0.988163, IOU: 0.262014, Area: 0.507842, Num Con: 3, Reading: 0.482558, outcome score: 0.986820.
  255. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501842998] [slam_toolbox]: Metric Scores: Initial: 0.973794, IOU: 0.326779, Area: 0.565403, Num Con: 3, Reading: 0.613833, outcome score: 0.971905.
  256. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501896776] [slam_toolbox]: Metric Scores: Initial: 0.957245, IOU: 0.318626, Area: 0.705136, Num Con: 2, Reading: 0.966997, outcome score: 0.913937.
  257. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.501950535] [slam_toolbox]: Metric Scores: Initial: 0.806807, IOU: 0.186911, Area: 0.452939, Num Con: 2, Reading: 0.433908, outcome score: 0.779773.
  258. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.502007332] [slam_toolbox]: Metric Scores: Initial: 0.982247, IOU: 0.240071, Area: 0.528453, Num Con: 3, Reading: 0.514205, outcome score: 0.980699.
  259. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.503507355] [slam_toolbox]: Metric Scores: Initial: 0.779904, IOU: 0.209763, Area: 0.462838, Num Con: 2, Reading: 0.446686, outcome score: 0.752103.
  260. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.503631837] [slam_toolbox]: Metric Scores: Initial: 0.696956, IOU: 0.223061, Area: 0.482039, Num Con: 2, Reading: 0.446991, outcome score: 0.669137.
  261. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.503694318] [slam_toolbox]: Metric Scores: Initial: 0.756724, IOU: 0.217787, Area: 0.474649, Num Con: 2, Reading: 0.451149, outcome score: 0.728655.
  262. [lifelong_slam_toolbox_node-5] [INFO] [1627933148.503749596] [slam_toolbox]: Metric Scores: Initial: 0.722597, IOU: 0.224601, Area: 0.480222, Num Con: 2, Reading: 0.448864, outcome score: 0.694665.
  263. [controller_server-6] [INFO] [1627933149.299693188] [controller_server]: Passing new path to controller.
  264. [controller_server-6] [INFO] [1627933150.298576190] [controller_server]: Passing new path to controller.
  265. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.584129969] [slam_toolbox]: Metric Scores: Initial: 0.992241, IOU: 0.891374, Area: 0.933918, Num Con: 3, Reading: 0.876877, outcome score: 0.990832.
  266. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.584325377] [slam_toolbox]: Metric Scores: Initial: 0.991172, IOU: 0.784627, Area: 0.821964, Num Con: 3, Reading: 0.884375, outcome score: 0.989737.
  267. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.584387396] [slam_toolbox]: Metric Scores: Initial: 0.981877, IOU: 0.857778, Area: 0.913631, Num Con: 3, Reading: 0.894904, outcome score: 0.979904.
  268. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.584451378] [slam_toolbox]: Metric Scores: Initial: 0.989936, IOU: 0.564411, Area: 0.833147, Num Con: 3, Reading: 0.871560, outcome score: 0.988433.
  269. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.584505619] [slam_toolbox]: Metric Scores: Initial: 0.983217, IOU: 0.615234, Area: 0.869464, Num Con: 3, Reading: 0.894904, outcome score: 0.981342.
  270. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.584557304] [slam_toolbox]: Metric Scores: Initial: 0.548228, IOU: 0.759964, Area: 0.900437, Num Con: 2, Reading: 0.865672, outcome score: 0.495288.
  271. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.584630378] [slam_toolbox]: Metric Scores: Initial: 0.792748, IOU: 0.545723, Area: 0.823417, Num Con: 2, Reading: 0.872671, outcome score: 0.742343.
  272. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.584681619] [slam_toolbox]: Metric Scores: Initial: 0.986271, IOU: 0.568759, Area: 0.834951, Num Con: 3, Reading: 0.871383, outcome score: 0.984584.
  273. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.584733730] [slam_toolbox]: Metric Scores: Initial: 0.699264, IOU: 0.584960, Area: 0.842220, Num Con: 2, Reading: 0.884013, outcome score: 0.647731.
  274. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.584788971] [slam_toolbox]: Metric Scores: Initial: 0.574217, IOU: 0.687723, Area: 0.783743, Num Con: 2, Reading: 0.882943, outcome score: 0.526193.
  275. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.584850731] [slam_toolbox]: Metric Scores: Initial: 0.780998, IOU: 0.557817, Area: 0.824675, Num Con: 2, Reading: 0.865574, outcome score: 0.730517.
  276. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.584906175] [slam_toolbox]: Metric Scores: Initial: 0.656614, IOU: 0.533569, Area: 0.733504, Num Con: 2, Reading: 0.824841, outcome score: 0.611604.
  277. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.584972583] [slam_toolbox]: Metric Scores: Initial: 0.979093, IOU: 0.411819, Area: 0.653487, Num Con: 3, Reading: 0.777429, outcome score: 0.977274.
  278. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.585038935] [slam_toolbox]: Metric Scores: Initial: 0.983591, IOU: 0.327096, Area: 0.584336, Num Con: 3, Reading: 0.668675, outcome score: 0.982016.
  279. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.585097750] [slam_toolbox]: Metric Scores: Initial: 0.397259, IOU: 0.419192, Area: 0.658884, Num Con: 2, Reading: 0.757485, outcome score: 0.356726.
  280. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.585165713] [slam_toolbox]: Metric Scores: Initial: 0.727364, IOU: 0.437934, Area: 0.835154, Num Con: 2, Reading: 0.911243, outcome score: 0.676255.
  281. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.585220232] [slam_toolbox]: Metric Scores: Initial: 0.986820, IOU: 0.282055, Area: 0.532779, Num Con: 3, Reading: 0.563953, outcome score: 0.985399.
  282. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.585274991] [slam_toolbox]: Metric Scores: Initial: 0.971905, IOU: 0.346374, Area: 0.584966, Num Con: 3, Reading: 0.688761, outcome score: 0.969919.
  283. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.585340010] [slam_toolbox]: Metric Scores: Initial: 0.993229, IOU: 0.347803, Area: 0.746655, Num Con: 3, Reading: 0.950725, outcome score: 0.991926.
  284. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.585396399] [slam_toolbox]: Metric Scores: Initial: 0.779773, IOU: 0.209774, Area: 0.493254, Num Con: 2, Reading: 0.551724, outcome score: 0.749178.
  285. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.585568381] [slam_toolbox]: Metric Scores: Initial: 0.980699, IOU: 0.263234, Area: 0.562741, Num Con: 3, Reading: 0.602273, outcome score: 0.979047.
  286. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.585678659] [slam_toolbox]: Metric Scores: Initial: 1.000000, IOU: 0.278832, Area: 0.627983, Num Con: 2, Reading: 0.974922, outcome score: 0.961321.
  287. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.585747845] [slam_toolbox]: Metric Scores: Initial: 0.995742, IOU: 0.290954, Area: 0.647548, Num Con: 3, Reading: 0.967427, outcome score: 0.994576.
  288. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.585810271] [slam_toolbox]: Metric Scores: Initial: 0.775405, IOU: 0.300304, Area: 0.668543, Num Con: 2, Reading: 0.968153, outcome score: 0.734293.
  289. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.585870271] [slam_toolbox]: Metric Scores: Initial: 0.752103, IOU: 0.229539, Area: 0.493074, Num Con: 2, Reading: 0.556196, outcome score: 0.721518.
  290. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.585929567] [slam_toolbox]: Metric Scores: Initial: 0.669137, IOU: 0.242423, Area: 0.510314, Num Con: 2, Reading: 0.547278, outcome score: 0.637518.
  291. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.585987716] [slam_toolbox]: Metric Scores: Initial: 0.957293, IOU: 0.279390, Area: 0.631387, Num Con: 2, Reading: 0.970588, outcome score: 0.918409.
  292. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.586051475] [slam_toolbox]: Metric Scores: Initial: 0.873197, IOU: 0.289642, Area: 0.646347, Num Con: 2, Reading: 0.963816, outcome score: 0.833416.
  293. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.586108290] [slam_toolbox]: Metric Scores: Initial: 0.728655, IOU: 0.237136, Area: 0.503392, Num Con: 2, Reading: 0.560345, outcome score: 0.697451.
  294. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.586168402] [slam_toolbox]: Metric Scores: Initial: 0.694665, IOU: 0.243546, Area: 0.507453, Num Con: 2, Reading: 0.559659, outcome score: 0.663218.
  295. [lifelong_slam_toolbox_node-5] [INFO] [1627933150.586224680] [slam_toolbox]: Metric Scores: Initial: 0.913937, IOU: 0.285885, Area: 0.641601, Num Con: 2, Reading: 0.966997, outcome score: 0.874441.
  296. [controller_server-6] [INFO] [1627933151.300469313] [controller_server]: Passing new path to controller.
  297. [controller_server-6] [INFO] [1627933152.298613202] [controller_server]: Passing new path to controller.
  298. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.797727813] [slam_toolbox]: Metric Scores: Initial: 0.495288, IOU: 0.884089, Area: 0.989782, Num Con: 3, Reading: 0.865672, outcome score: 0.468073.
  299. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.805385300] [slam_toolbox]: Metric Scores: Initial: 0.990832, IOU: 0.910839, Area: 0.954962, Num Con: 3, Reading: 0.882883, outcome score: 0.989347.
  300. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.805524949] [slam_toolbox]: Metric Scores: Initial: 0.526193, IOU: 0.814977, Area: 0.872835, Num Con: 2, Reading: 0.886288, outcome score: 0.472823.
  301. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.805593689] [slam_toolbox]: Metric Scores: Initial: 0.979904, IOU: 0.875761, Area: 0.933971, Num Con: 3, Reading: 0.894904, outcome score: 0.977825.
  302. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.805668634] [slam_toolbox]: Metric Scores: Initial: 0.989737, IOU: 0.804914, Area: 0.842333, Num Con: 3, Reading: 0.884375, outcome score: 0.988218.
  303. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.805728727] [slam_toolbox]: Metric Scores: Initial: 0.611604, IOU: 0.597113, Area: 0.797382, Num Con: 2, Reading: 0.834395, outcome score: 0.562761.
  304. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.805784727] [slam_toolbox]: Metric Scores: Initial: 0.981342, IOU: 0.637733, Area: 0.899948, Num Con: 3, Reading: 0.901274, outcome score: 0.979334.
  305. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.805853653] [slam_toolbox]: Metric Scores: Initial: 0.988433, IOU: 0.585791, Area: 0.863769, Num Con: 3, Reading: 0.877676, outcome score: 0.986833.
  306. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.805909820] [slam_toolbox]: Metric Scores: Initial: 0.977274, IOU: 0.462166, Area: 0.716816, Num Con: 3, Reading: 0.796238, outcome score: 0.975296.
  307. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.805965098] [slam_toolbox]: Metric Scores: Initial: 0.647731, IOU: 0.606899, Area: 0.872609, Num Con: 2, Reading: 0.887147, outcome score: 0.594375.
  308. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.806048246] [slam_toolbox]: Metric Scores: Initial: 0.742343, IOU: 0.566350, Area: 0.853965, Num Con: 2, Reading: 0.875776, outcome score: 0.690105.
  309. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.806107654] [slam_toolbox]: Metric Scores: Initial: 0.984584, IOU: 0.590261, Area: 0.865520, Num Con: 3, Reading: 0.874598, outcome score: 0.982783.
  310. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.806166710] [slam_toolbox]: Metric Scores: Initial: 0.982016, IOU: 0.370075, Area: 0.648582, Num Con: 3, Reading: 0.713855, outcome score: 0.980316.
  311. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.806230154] [slam_toolbox]: Metric Scores: Initial: 0.356726, IOU: 0.467656, Area: 0.719478, Num Con: 2, Reading: 0.778443, outcome score: 0.312557.
  312. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.806390766] [slam_toolbox]: Metric Scores: Initial: 0.730517, IOU: 0.579036, Area: 0.855133, Num Con: 2, Reading: 0.868852, outcome score: 0.678209.
  313. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.806471933] [slam_toolbox]: Metric Scores: Initial: 0.985399, IOU: 0.321709, Area: 0.597120, Num Con: 3, Reading: 0.645349, outcome score: 0.983875.
  314. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.806534804] [slam_toolbox]: Metric Scores: Initial: 0.969919, IOU: 0.390452, Area: 0.646431, Num Con: 3, Reading: 0.726225, outcome score: 0.967753.
  315. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.806601563] [slam_toolbox]: Metric Scores: Initial: 0.749178, IOU: 0.246243, Area: 0.570139, Num Con: 2, Reading: 0.637931, outcome score: 0.713969.
  316. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.806655841] [slam_toolbox]: Metric Scores: Initial: 0.979047, IOU: 0.303884, Area: 0.638173, Num Con: 3, Reading: 0.676136, outcome score: 0.977245.
  317. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.806909694] [slam_toolbox]: Metric Scores: Initial: 0.721518, IOU: 0.265363, Area: 0.561518, Num Con: 2, Reading: 0.642651, outcome score: 0.686827.
  318. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.806976027] [slam_toolbox]: Metric Scores: Initial: 0.637518, IOU: 0.278981, Area: 0.578293, Num Con: 2, Reading: 0.633238, outcome score: 0.601820.
  319. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.808955737] [slam_toolbox]: Metric Scores: Initial: 0.676255, IOU: 0.428710, Area: 0.834429, Num Con: 2, Reading: 0.911243, outcome score: 0.625189.
  320. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.809060404] [slam_toolbox]: Metric Scores: Initial: 0.697451, IOU: 0.273285, Area: 0.571395, Num Con: 2, Reading: 0.643678, outcome score: 0.662167.
  321. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.809127700] [slam_toolbox]: Metric Scores: Initial: 0.663218, IOU: 0.279899, Area: 0.574346, Num Con: 2, Reading: 0.642045, outcome score: 0.627757.
  322. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.809189034] [slam_toolbox]: Metric Scores: Initial: 1.000000, IOU: 0.272435, Area: 0.593358, Num Con: 3, Reading: 0.968750, outcome score: 0.999000.
  323. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.812270747] [slam_toolbox]: Metric Scores: Initial: 0.991926, IOU: 0.340694, Area: 0.745937, Num Con: 3, Reading: 0.950725, outcome score: 0.990564.
  324. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.812429933] [slam_toolbox]: Metric Scores: Initial: 0.961321, IOU: 0.249356, Area: 0.583166, Num Con: 2, Reading: 0.968652, outcome score: 0.925331.
  325. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.812503489] [slam_toolbox]: Metric Scores: Initial: 0.994576, IOU: 0.266582, Area: 0.613461, Num Con: 3, Reading: 0.967427, outcome score: 0.993377.
  326. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.812562156] [slam_toolbox]: Metric Scores: Initial: 0.734293, IOU: 0.282631, Area: 0.647123, Num Con: 2, Reading: 0.968153, outcome score: 0.694465.
  327. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.812847508] [slam_toolbox]: Metric Scores: Initial: 0.918409, IOU: 0.251545, Area: 0.589531, Num Con: 2, Reading: 0.964052, outcome score: 0.882037.
  328. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.812945490] [slam_toolbox]: Metric Scores: Initial: 0.833416, IOU: 0.263698, Area: 0.609218, Num Con: 2, Reading: 0.953947, outcome score: 0.795863.
  329. [lifelong_slam_toolbox_node-5] [INFO] [1627933152.813008064] [slam_toolbox]: Metric Scores: Initial: 0.874441, IOU: 0.259297, Area: 0.602823, Num Con: 2, Reading: 0.963696, outcome score: 0.837271.
  330. [controller_server-6] [INFO] [1627933153.299206598] [controller_server]: Passing new path to controller.
  331. [controller_server-6] [INFO] [1627933154.465267029] [controller_server]: Passing new path to controller.
  332. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.050456242] [slam_toolbox]: Metric Scores: Initial: 0.468073, IOU: 0.674354, Area: 0.874913, Num Con: 3, Reading: 0.865672, outcome score: 0.439444.
  333. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.051944321] [slam_toolbox]: Metric Scores: Initial: 0.989347, IOU: 0.651563, Area: 0.812846, Num Con: 3, Reading: 0.873874, outcome score: 0.987827.
  334. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.052120840] [slam_toolbox]: Metric Scores: Initial: 0.472823, IOU: 0.854230, Area: 0.920197, Num Con: 2, Reading: 0.906355, outcome score: -1.000000.
  335. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.052270451] [slam_toolbox]: Metric Scores: Initial: 0.977825, IOU: 0.626895, Area: 0.792723, Num Con: 3, Reading: 0.888535, outcome score: 0.975771.
  336. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.052433989] [slam_toolbox]: Metric Scores: Initial: 0.988218, IOU: 0.593432, Area: 0.722238, Num Con: 3, Reading: 0.881250, outcome score: 0.986708.
  337. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.052571452] [slam_toolbox]: Metric Scores: Initial: 0.562761, IOU: 0.757157, Area: 0.946729, Num Con: 2, Reading: 0.926752, outcome score: 0.506156.
  338. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.052895175] [slam_toolbox]: Metric Scores: Initial: 0.979334, IOU: 0.526178, Area: 0.822468, Num Con: 3, Reading: 0.891720, outcome score: 0.977314.
  339. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.053632604] [slam_toolbox]: Metric Scores: Initial: 0.986833, IOU: 0.510732, Area: 0.816199, Num Con: 3, Reading: 0.868502, outcome score: 0.985188.
  340. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.054526440] [slam_toolbox]: Metric Scores: Initial: 0.975296, IOU: 0.593700, Area: 0.871644, Num Con: 3, Reading: 0.946708, outcome score: 0.973004.
  341. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.055642536] [slam_toolbox]: Metric Scores: Initial: 0.594375, IOU: 0.520178, Area: 0.816049, Num Con: 2, Reading: 0.880878, outcome score: 0.544412.
  342. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.055937518] [slam_toolbox]: Metric Scores: Initial: 0.690105, IOU: 0.493998, Area: 0.806510, Num Con: 2, Reading: 0.869565, outcome score: 0.640714.
  343. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.056094093] [slam_toolbox]: Metric Scores: Initial: 0.982783, IOU: 0.514664, Area: 0.818032, Num Con: 3, Reading: 0.871383, outcome score: 0.980938.
  344. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.056232686] [slam_toolbox]: Metric Scores: Initial: 0.980316, IOU: 0.497516, Area: 0.824161, Num Con: 3, Reading: 0.942771, outcome score: 0.978342.
  345. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.056896614] [slam_toolbox]: Metric Scores: Initial: 0.312557, IOU: 0.576942, Area: 0.852232, Num Con: 2, Reading: 0.940120, outcome score: 0.260423.
  346. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.057068874] [slam_toolbox]: Metric Scores: Initial: 0.678209, IOU: 0.504959, Area: 0.807817, Num Con: 2, Reading: 0.865574, outcome score: 0.628740.
  347. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.057702431] [slam_toolbox]: Metric Scores: Initial: 0.983875, IOU: 0.458263, Area: 0.796858, Num Con: 3, Reading: 0.915698, outcome score: 0.982105.
  348. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.057855413] [slam_toolbox]: Metric Scores: Initial: 0.967753, IOU: 0.530356, Area: 0.823406, Num Con: 3, Reading: 0.948127, outcome score: 0.965159.
  349. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.058146562] [slam_toolbox]: Metric Scores: Initial: 0.713969, IOU: 0.368594, Area: 0.805963, Num Con: 2, Reading: 0.942529, outcome score: 0.664612.
  350. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.058327414] [slam_toolbox]: Metric Scores: Initial: 0.977245, IOU: 0.429107, Area: 0.851823, Num Con: 3, Reading: 0.926136, outcome score: 0.975082.
  351. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.058557119] [slam_toolbox]: Metric Scores: Initial: 0.686827, IOU: 0.392182, Area: 0.781110, Num Con: 2, Reading: 0.925072, outcome score: 0.638961.
  352. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.058705342] [slam_toolbox]: Metric Scores: Initial: 0.601820, IOU: 0.410600, Area: 0.798999, Num Con: 2, Reading: 0.948424, outcome score: 0.552880.
  353. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.058935065] [slam_toolbox]: Metric Scores: Initial: 1.000000, IOU: 0.288421, Area: 0.671726, Num Con: 3, Reading: 0.934524, outcome score: 0.999000.
  354. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.059081658] [slam_toolbox]: Metric Scores: Initial: 0.625189, IOU: 0.381042, Area: 0.795148, Num Con: 2, Reading: 0.911243, outcome score: 0.576480.
  355. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.059227677] [slam_toolbox]: Metric Scores: Initial: 0.662167, IOU: 0.402897, Area: 0.791672, Num Con: 2, Reading: 0.931034, outcome score: 0.613667.
  356. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.059374658] [slam_toolbox]: Metric Scores: Initial: 0.627757, IOU: 0.411498, Area: 0.792581, Num Con: 2, Reading: 0.946023, outcome score: 0.579202.
  357. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.059512548] [slam_toolbox]: Metric Scores: Initial: 0.999000, IOU: 0.236993, Area: 0.550225, Num Con: 3, Reading: 0.818750, outcome score: 0.997967.
  358. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.059650530] [slam_toolbox]: Metric Scores: Initial: 0.990564, IOU: 0.298681, Area: 0.700382, Num Con: 3, Reading: 0.939130, outcome score: 0.989168.
  359. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.059786067] [slam_toolbox]: Metric Scores: Initial: 0.925331, IOU: 0.213857, Area: 0.533996, Num Con: 2, Reading: 0.796238, outcome score: 0.892291.
  360. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.059923790] [slam_toolbox]: Metric Scores: Initial: 0.993377, IOU: 0.229112, Area: 0.563572, Num Con: 3, Reading: 0.794788, outcome score: 0.992153.
  361. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.060060550] [slam_toolbox]: Metric Scores: Initial: 0.694465, IOU: 0.241307, Area: 0.592278, Num Con: 2, Reading: 0.837580, outcome score: 0.657929.
  362. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.060197235] [slam_toolbox]: Metric Scores: Initial: 0.882037, IOU: 0.216325, Area: 0.541193, Num Con: 2, Reading: 0.777778, outcome score: 0.848566.
  363. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.060490736] [slam_toolbox]: Metric Scores: Initial: 0.795863, IOU: 0.226702, Area: 0.559686, Num Con: 2, Reading: 0.782895, outcome score: 0.761282.
  364. [lifelong_slam_toolbox_node-5] [INFO] [1627933155.060674885] [slam_toolbox]: Metric Scores: Initial: 0.837271, IOU: 0.222492, Area: 0.552752, Num Con: 2, Reading: 0.772277, outcome score: 0.803106.
  365. [controller_server-6] [INFO] [1627933155.465272220] [controller_server]: Passing new path to controller.
  366. [controller_server-6] [INFO] [1627933156.465262763] [controller_server]: Passing new path to controller.
  367. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.377857829] [slam_toolbox]: Metric Scores: Initial: 0.506156, IOU: 0.902938, Area: 0.947132, Num Con: 2, Reading: 0.936306, outcome score: -1.000000.
  368. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.384412035] [slam_toolbox]: Metric Scores: Initial: 0.973004, IOU: 0.837472, Area: 0.963876, Num Con: 3, Reading: 0.962382, outcome score: 0.970446.
  369. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.399408063] [slam_toolbox]: Metric Scores: Initial: 0.439444, IOU: 0.517817, Area: 0.673946, Num Con: 2, Reading: 0.772388, outcome score: 0.398007.
  370. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.399704434] [slam_toolbox]: Metric Scores: Initial: 0.978342, IOU: 0.674213, Area: 0.898862, Num Con: 3, Reading: 0.966867, outcome score: 0.976174.
  371. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.399865731] [slam_toolbox]: Metric Scores: Initial: 0.260423, IOU: 0.808300, Area: 0.941436, Num Con: 2, Reading: 0.955090, outcome score: 0.202937.
  372. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.400035639] [slam_toolbox]: Metric Scores: Initial: 0.987827, IOU: 0.510575, Area: 0.636223, Num Con: 3, Reading: 0.765766, outcome score: 0.986363.
  373. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.400175288] [slam_toolbox]: Metric Scores: Initial: 0.975771, IOU: 0.488476, Area: 0.616867, Num Con: 3, Reading: 0.770701, outcome score: 0.973874.
  374. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.400311066] [slam_toolbox]: Metric Scores: Initial: 0.982105, IOU: 0.590562, Area: 0.845742, Num Con: 3, Reading: 0.953488, outcome score: 0.980196.
  375. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.400448881] [slam_toolbox]: Metric Scores: Initial: 0.965159, IOU: 0.703897, Area: 0.886080, Num Con: 3, Reading: 0.968300, outcome score: 0.962307.
  376. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.400605826] [slam_toolbox]: Metric Scores: Initial: 0.986708, IOU: 0.458971, Area: 0.560453, Num Con: 3, Reading: 0.781250, outcome score: 0.985261.
  377. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.407008531] [slam_toolbox]: Metric Scores: Initial: 0.977314, IOU: 0.409524, Area: 0.625503, Num Con: 3, Reading: 0.757962, outcome score: 0.975463.
  378. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.407211569] [slam_toolbox]: Metric Scores: Initial: 0.664612, IOU: 0.478944, Area: 0.860757, Num Con: 2, Reading: 0.971264, outcome score: 0.611966.
  379. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.407351754] [slam_toolbox]: Metric Scores: Initial: 0.975082, IOU: 0.577721, Area: 0.925857, Num Con: 3, Reading: 0.963068, outcome score: 0.972698.
  380. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.407513996] [slam_toolbox]: Metric Scores: Initial: 0.985188, IOU: 0.397446, Area: 0.619101, Num Con: 3, Reading: 0.761468, outcome score: 0.983638.
  381. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.407658292] [slam_toolbox]: Metric Scores: Initial: 0.544412, IOU: 0.402366, Area: 0.617533, Num Con: 2, Reading: 0.758621, outcome score: 0.506360.
  382. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.407804478] [slam_toolbox]: Metric Scores: Initial: 0.638961, IOU: 0.500116, Area: 0.825165, Num Con: 2, Reading: 0.962536, outcome score: 0.588451.
  383. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.407949127] [slam_toolbox]: Metric Scores: Initial: 0.552880, IOU: 0.522450, Area: 0.841408, Num Con: 2, Reading: 0.954155, outcome score: 0.501396.
  384. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.408133257] [slam_toolbox]: Metric Scores: Initial: 0.640714, IOU: 0.393705, Area: 0.620757, Num Con: 2, Reading: 0.782609, outcome score: 0.602469.
  385. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.408318424] [slam_toolbox]: Metric Scores: Initial: 0.980938, IOU: 0.402912, Area: 0.623542, Num Con: 3, Reading: 0.768489, outcome score: 0.979225.
  386. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.408463221] [slam_toolbox]: Metric Scores: Initial: 0.613667, IOU: 0.512765, Area: 0.834394, Num Con: 2, Reading: 0.959770, outcome score: 0.562603.
  387. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.408603129] [slam_toolbox]: Metric Scores: Initial: 0.579202, IOU: 0.522351, Area: 0.833805, Num Con: 2, Reading: 0.954545, outcome score: 0.528174.
  388. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.412669289] [slam_toolbox]: Metric Scores: Initial: 0.628740, IOU: 0.401557, Area: 0.622071, Num Con: 2, Reading: 0.783607, outcome score: 0.590416.
  389. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.414782074] [slam_toolbox]: Metric Scores: Initial: 1.000000, IOU: 0.314693, Area: 0.613733, Num Con: 3, Reading: 0.852071, outcome score: 0.999000.
  390. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.415070927] [slam_toolbox]: Metric Scores: Initial: 0.999000, IOU: 0.262073, Area: 0.553340, Num Con: 3, Reading: 0.886905, outcome score: 0.997967.
  391. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.415230760] [slam_toolbox]: Metric Scores: Initial: 0.576480, IOU: 0.324296, Area: 0.628341, Num Con: 2, Reading: 0.855030, outcome score: 0.537779.
  392. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.415383835] [slam_toolbox]: Metric Scores: Initial: 0.997967, IOU: 0.212120, Area: 0.447574, Num Con: 3, Reading: 0.768750, outcome score: 0.996912.
  393. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.415525780] [slam_toolbox]: Metric Scores: Initial: 0.989168, IOU: 0.271773, Area: 0.577373, Num Con: 3, Reading: 0.895652, outcome score: 0.987793.
  394. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.415668373] [slam_toolbox]: Metric Scores: Initial: 0.892291, IOU: 0.189259, Area: 0.428076, Num Con: 2, Reading: 0.714734, outcome score: 0.865607.
  395. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.415808707] [slam_toolbox]: Metric Scores: Initial: 0.992153, IOU: 0.204153, Area: 0.454980, Num Con: 3, Reading: 0.732899, outcome score: 0.990938.
  396. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.415942985] [slam_toolbox]: Metric Scores: Initial: 0.657929, IOU: 0.215791, Area: 0.479762, Num Con: 2, Reading: 0.786624, outcome score: 0.628143.
  397. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.416081782] [slam_toolbox]: Metric Scores: Initial: 0.848566, IOU: 0.191765, Area: 0.434434, Num Con: 2, Reading: 0.705882, outcome score: 0.821500.
  398. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.416224652] [slam_toolbox]: Metric Scores: Initial: 0.761282, IOU: 0.201824, Area: 0.451378, Num Con: 2, Reading: 0.717105, outcome score: 0.733199.
  399. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.416357597] [slam_toolbox]: Metric Scores: Initial: 0.803106, IOU: 0.197667, Area: 0.444797, Num Con: 2, Reading: 0.702970, outcome score: 0.775418.
  400. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.428760451] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1627933157.063 for reason 'Unknown'
  401. [lifelong_slam_toolbox_node-5] [INFO] [1627933157.430224641] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1627933157.208 for reason 'Unknown'
  402. [controller_server-6] [INFO] [1627933157.631937177] [controller_server]: Passing new path to controller.
  403. [controller_server-6] [INFO] [1627933158.633372650] [controller_server]: Passing new path to controller.
  404. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.250328332] [slam_toolbox]: Metric Scores: Initial: 0.398007, IOU: 0.419151, Area: 0.594522, Num Con: 2, Reading: 0.727612, outcome score: 0.361336.
  405. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.256620074] [slam_toolbox]: Metric Scores: Initial: 0.986363, IOU: 0.414451, Area: 0.561468, Num Con: 3, Reading: 0.657658, outcome score: 0.984903.
  406. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.260444363] [slam_toolbox]: Metric Scores: Initial: 0.973874, IOU: 0.397010, Area: 0.543785, Num Con: 3, Reading: 0.665605, outcome score: 0.972021.
  407. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.260683346] [slam_toolbox]: Metric Scores: Initial: 0.985261, IOU: 0.376336, Area: 0.495343, Num Con: 3, Reading: 0.687500, outcome score: 0.983823.
  408. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.260835142] [slam_toolbox]: Metric Scores: Initial: 0.975463, IOU: 0.325927, Area: 0.540087, Num Con: 3, Reading: 0.656051, outcome score: 0.973668.
  409. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.266461456] [slam_toolbox]: Metric Scores: Initial: 0.983638, IOU: 0.316571, Area: 0.534279, Num Con: 3, Reading: 0.663609, outcome score: 0.982114.
  410. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.266660290] [slam_toolbox]: Metric Scores: Initial: 0.506360, IOU: 0.320708, Area: 0.533384, Num Con: 2, Reading: 0.658307, outcome score: 0.473357.
  411. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.268766723] [slam_toolbox]: Metric Scores: Initial: 0.602469, IOU: 0.313299, Area: 0.535192, Num Con: 2, Reading: 0.677019, outcome score: 0.569357.
  412. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.269419225] [slam_toolbox]: Metric Scores: Initial: 0.979225, IOU: 0.321094, Area: 0.538626, Num Con: 3, Reading: 0.681672, outcome score: 0.977553.
  413. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.269669429] [slam_toolbox]: Metric Scores: Initial: 0.590416, IOU: 0.320154, Area: 0.537454, Num Con: 2, Reading: 0.695082, outcome score: 0.557169.
  414. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.269824004] [slam_toolbox]: Metric Scores: Initial: 1.000000, IOU: 0.300795, Area: 0.557396, Num Con: 2, Reading: 0.505848, outcome score: 0.968649.
  415. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.269962449] [slam_toolbox]: Metric Scores: Initial: 0.999000, IOU: 0.259333, Area: 0.540367, Num Con: 3, Reading: 0.458580, outcome score: 0.997972.
  416. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.272203011] [slam_toolbox]: Metric Scores: Initial: 0.997967, IOU: 0.224756, Area: 0.500738, Num Con: 3, Reading: 0.520833, outcome score: 0.996906.
  417. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.272381549] [slam_toolbox]: Metric Scores: Initial: 0.537779, IOU: 0.268175, Area: 0.555312, Num Con: 2, Reading: 0.491124, outcome score: 0.507312.
  418. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.274977353] [slam_toolbox]: Metric Scores: Initial: 0.996912, IOU: 0.182462, Area: 0.403880, Num Con: 3, Reading: 0.540625, outcome score: 0.995838.
  419. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.275259243] [slam_toolbox]: Metric Scores: Initial: 0.987793, IOU: 0.228581, Area: 0.514842, Num Con: 3, Reading: 0.510145, outcome score: 0.986419.
  420. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.275407317] [slam_toolbox]: Metric Scores: Initial: 0.865607, IOU: 0.159686, Area: 0.379332, Num Con: 2, Reading: 0.514107, outcome score: 0.841847.
  421. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.275536225] [slam_toolbox]: Metric Scores: Initial: 0.990938, IOU: 0.173273, Area: 0.405871, Num Con: 3, Reading: 0.553746, outcome score: 0.989718.
  422. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.275658800] [slam_toolbox]: Metric Scores: Initial: 0.628143, IOU: 0.182631, Area: 0.427522, Num Con: 2, Reading: 0.541401, outcome score: 0.601492.
  423. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.275784559] [slam_toolbox]: Metric Scores: Initial: 0.821500, IOU: 0.162268, Area: 0.386052, Num Con: 2, Reading: 0.529412, outcome score: 0.797337.
  424. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.275917708] [slam_toolbox]: Metric Scores: Initial: 0.733199, IOU: 0.171228, Area: 0.402429, Num Con: 2, Reading: 0.546053, outcome score: 0.708053.
  425. [lifelong_slam_toolbox_node-5] [INFO] [1627933159.276054282] [slam_toolbox]: Metric Scores: Initial: 0.775418, IOU: 0.167235, Area: 0.395456, Num Con: 2, Reading: 0.534653, outcome score: 0.750691.
  426. [controller_server-6] [INFO] [1627933159.631929058] [controller_server]: Passing new path to controller.
  427. [planner_server-7] [INFO] [1627933160.355956130] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 152 X 141 at 0.050000 m/pix
  428. [bt_navigator-9] [ERROR] [1627933160.614862066] [bt_navigator]: Action server failed while executing action callback: "send_goal failed"
  429. [bt_navigator-9] [WARN] [1627933160.615170308] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.
  430. [controller_server-6] [INFO] [1627933160.631940842] [controller_server]: Passing new path to controller.
  431. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.395064331] [slam_toolbox]: Metric Scores: Initial: 0.361336, IOU: 0.340420, Area: 0.461754, Num Con: 2, Reading: 0.641791, outcome score: 0.332631.
  432. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.396521225] [slam_toolbox]: Metric Scores: Initial: 0.984903, IOU: 0.329717, Area: 0.431464, Num Con: 3, Reading: 0.477477, outcome score: 0.983512.
  433. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.396734133] [slam_toolbox]: Metric Scores: Initial: 0.972021, IOU: 0.316705, Area: 0.418006, Num Con: 3, Reading: 0.547771, outcome score: 0.970320.
  434. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.396907504] [slam_toolbox]: Metric Scores: Initial: 0.983823, IOU: 0.303299, Area: 0.385272, Num Con: 3, Reading: 0.528125, outcome score: 0.982449.
  435. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.397567487] [slam_toolbox]: Metric Scores: Initial: 0.973668, IOU: 0.247501, Area: 0.390249, Num Con: 3, Reading: 0.560510, outcome score: 0.972051.
  436. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.397847618] [slam_toolbox]: Metric Scores: Initial: 0.982114, IOU: 0.242844, Area: 0.388258, Num Con: 3, Reading: 0.544343, outcome score: 0.980697.
  437. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.398004433] [slam_toolbox]: Metric Scores: Initial: 0.473357, IOU: 0.245479, Area: 0.387588, Num Con: 2, Reading: 0.570533, outcome score: 0.449101.
  438. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.398184619] [slam_toolbox]: Metric Scores: Initial: 0.569357, IOU: 0.240232, Area: 0.388247, Num Con: 2, Reading: 0.552795, outcome score: 0.545062.
  439. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.401566518] [slam_toolbox]: Metric Scores: Initial: 0.977553, IOU: 0.246836, Area: 0.392436, Num Con: 3, Reading: 0.588424, outcome score: 0.976025.
  440. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.401861130] [slam_toolbox]: Metric Scores: Initial: 1.000000, IOU: 0.247623, Area: 0.372634, Num Con: 2, Reading: 0.303835, outcome score: 0.980770.
  441. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.402012297] [slam_toolbox]: Metric Scores: Initial: 0.557169, IOU: 0.246781, Area: 0.392379, Num Con: 2, Reading: 0.586885, outcome score: 0.532626.
  442. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.402155761] [slam_toolbox]: Metric Scores: Initial: 0.968649, IOU: 0.199770, Area: 0.356208, Num Con: 2, Reading: 0.198830, outcome score: 0.955719.
  443. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.402622892] [slam_toolbox]: Metric Scores: Initial: 0.997972, IOU: 0.160440, Area: 0.319626, Num Con: 3, Reading: 0.023669, outcome score: 0.996970.
  444. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.402888689] [slam_toolbox]: Metric Scores: Initial: 0.996906, IOU: 0.129585, Area: 0.274903, Num Con: 3, Reading: 0.059524, outcome score: 0.995895.
  445. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.403047282] [slam_toolbox]: Metric Scores: Initial: 0.507312, IOU: 0.168892, Area: 0.334263, Num Con: 2, Reading: 0.079882, outcome score: 0.501519.
  446. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.404413397] [slam_toolbox]: Metric Scores: Initial: 0.995838, IOU: 0.103306, Area: 0.215959, Num Con: 3, Reading: 0.012500, outcome score: 0.994834.
  447. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.405321715] [slam_toolbox]: Metric Scores: Initial: 0.986419, IOU: 0.127683, Area: 0.274850, Num Con: 3, Reading: 0.049275, outcome score: 0.985379.
  448. [lifelong_slam_toolbox_node-5] [INFO] [1627933161.426362318] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1627933161.269 for reason 'Unknown'
  449. [controller_server-6] [WARN] [1627933162.469513439] [controller_server]: Control loop missed its desired rate of 6.0000Hz
  450. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.168309265] [slam_toolbox]: Metric Scores: Initial: 0.332631, IOU: 0.322212, Area: 0.446425, Num Con: 2, Reading: 0.626866, outcome score: 0.304845.
  451. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.170349716] [slam_toolbox]: Metric Scores: Initial: 0.983512, IOU: 0.313541, Area: 0.418317, Num Con: 3, Reading: 0.462462, outcome score: 0.982099.
  452. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.173514078] [slam_toolbox]: Metric Scores: Initial: 0.970320, IOU: 0.300933, Area: 0.404873, Num Con: 3, Reading: 0.528662, outcome score: 0.968599.
  453. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.175551807] [slam_toolbox]: Metric Scores: Initial: 0.982449, IOU: 0.288307, Area: 0.372955, Num Con: 3, Reading: 0.506250, outcome score: 0.981056.
  454. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.177730702] [slam_toolbox]: Metric Scores: Initial: 0.972051, IOU: 0.234407, Area: 0.376608, Num Con: 3, Reading: 0.531847, outcome score: 0.970420.
  455. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.180188877] [slam_toolbox]: Metric Scores: Initial: 0.980697, IOU: 0.229568, Area: 0.374092, Num Con: 3, Reading: 0.492355, outcome score: 0.979264.
  456. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.180293155] [slam_toolbox]: Metric Scores: Initial: 0.449101, IOU: 0.232261, Area: 0.373713, Num Con: 2, Reading: 0.529781, outcome score: 0.425679.
  457. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.180362470] [slam_toolbox]: Metric Scores: Initial: 1.000000, IOU: 0.238903, Area: 0.357298, Num Con: 2, Reading: 0.294118, outcome score: 0.981353.
  458. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.180435655] [slam_toolbox]: Metric Scores: Initial: 0.545062, IOU: 0.226984, Area: 0.373920, Num Con: 2, Reading: 0.503106, outcome score: 0.521627.
  459. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.180492711] [slam_toolbox]: Metric Scores: Initial: 0.976025, IOU: 0.233376, Area: 0.378208, Num Con: 3, Reading: 0.540193, outcome score: 0.974481.
  460. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.183604221] [slam_toolbox]: Metric Scores: Initial: 0.980770, IOU: 0.235861, Area: 0.361126, Num Con: 2, Reading: 0.294985, outcome score: 0.962071.
  461. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.183712869] [slam_toolbox]: Metric Scores: Initial: 0.532626, IOU: 0.233244, Area: 0.378049, Num Con: 2, Reading: 0.537705, outcome score: 0.508943.
  462. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.183780240] [slam_toolbox]: Metric Scores: Initial: 0.955719, IOU: 0.189651, Area: 0.344094, Num Con: 2, Reading: 0.192982, outcome score: 0.943140.
  463. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.183837999] [slam_toolbox]: Metric Scores: Initial: 0.996970, IOU: 0.153986, Area: 0.311426, Num Con: 3, Reading: 0.023669, outcome score: 0.995965.
  464. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.183894018] [slam_toolbox]: Metric Scores: Initial: 0.995895, IOU: 0.123868, Area: 0.266697, Num Con: 3, Reading: 0.053571, outcome score: 0.994881.
  465. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.183949462] [slam_toolbox]: Metric Scores: Initial: 0.501519, IOU: 0.162195, Area: 0.325938, Num Con: 2, Reading: 0.076923, outcome score: 0.495904.
  466. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.184003222] [slam_toolbox]: Metric Scores: Initial: 0.994834, IOU: 0.100876, Area: 0.213356, Num Con: 3, Reading: 0.012500, outcome score: 0.993831.
  467. [lifelong_slam_toolbox_node-5] [INFO] [1627933163.184055611] [slam_toolbox]: Metric Scores: Initial: 0.985379, IOU: 0.121978, Area: 0.266511, Num Con: 3, Reading: 0.043478, outcome score: 0.984341.
  468. [controller_server-6] [INFO] [1627933163.506023781] [controller_server]: Reached the goal!
  469.  
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