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  1.  
  2. [DBG] Sending Mobility Crash Log to Nav.M6=
  3. [DBG] mh-initialize: finished, calls before done: 2Mk
  4. [DBG] Starting ApplicationMF5
  5. [DBG] pb initM1&
  6. [DBG] [safety] shutdownM/'
  7. [DBG] RPC Switched pwr voter 4 set vote to 1Mb
  8.  
  9. [DBG] 8 Brushes InitializedMz
  10. [DBG] get_calibrationMG8
  11. [DBG] motion hub initM=lr
  12. [DBG] [ROBOT_ALLEY]: ---- RESET BUMPER ALLEY DETECTOR-----M&me
  13. [DBG] Refl: enable default reflexesM'f
  14. [DBG] Refl: Arbiter offM}
  15. [DBG] Batt infoMk6
  16. [DBG] pb robctrl(11, 0)M/Q8
  17. [DBG] RPC Switched pwr voter 1 set vote to 1M8`>
  18. [DBG] 16 BRUSH_UPDATE 0 clean setting 1, target 12000MRp7
  19. [DBG] 16 BRUSH_UPDATE 0 target 12000.000000 cmd duty 0.000000 ramp 15000.000000M/P
  20. [DBG] RPC Switched pwr voter 2 set vote to 1MG3
  21. [DBG] [DM] saw charger contacts rising 0 falling 1, keep emitters onM&mo
  22. [DBG] [yawmon]: start, yaw 0.000000MBb
  23. [DBG] [bin] removedM.
  24. [DBG] [HR:] haz triggeredM0m
  25. [DBG] [HR:] active: 19Mr
  26.  
  27. [DBG] pb post resetM$K
  28. [DBG] pb no upgradeM) ,
  29. [DBG] [SE]: !wheels_stopped - odom:2,2M;d
  30. [DBG] [SE]: !velocity_stopped - cmd_vel:0,0 meas_vel:9,9M62"
  31. [DBG] [SFTY] Emitter ctrl 1: Busy, will try again 0M)
  32. [DBG] [CEM] sending turn ON cmd at 111M6U
  33. [DBG] [CEM] ERROR send cliff emitter control 1 failMab
  34. [DBG] [power_board] onlineM/P
  35. [DBG] RPC Switched pwr voter 2 set vote to 1MG.
  36. [DBG] [DM] saw charger contacts rising 1 falling 0, keep emitters onM<B<
  37. [DBG] [TSK] Started serial_read_task late by 1.590400x : M`
  38. [DBG] [bin] insertedMA4g
  39. [DBG] [bin] voter 2 votes to turn bin emitter 1 (1: on 0: off)M;
  40. [DBG] [safety] onlineM2TD
  41. [DBG] [SFTY] initial safety cliff cal requestedM18P
  42. [DBG] [SFTY] cliff cal read ctrl: send successM
  43. [DBG] [SFTY] init done!M*R
  44. [DBG] [SFTY] Emitter ctrl: send successM)E
  45. [DBG] [CEM] sending turn ON cmd at 211M0`|
  46. [DBG] [CEM] recvd turn ON cmd response at 228M< >
  47. [DBG] [CEM] cliff valid, enable cliff mask @411 delta 200MW
  48. [DBG] all cliffs enabledM0u
  49. [DBG] DOCK DETECT CHANGE: OFF_DOCK -> ON_DOCKMg)
  50. [DBG] chatter resetM
  51.  
  52. [DBG] [D121] WAIT STEADYM-B
  53. [DBG] [DM] docked! perform docked actions!M#c
  54. [DBG] turning off cliff emittersM-<
  55. [DBG] [DM] voting to turn off bin emittersMABG] [bin] voter 1 votes to turn bin emitter 0 (1: on 0: off)M?*
  56. [DBG] turning off mouseM$lP
  57. [DBG] turning off bumper emittersM'c
  58. [DBG] [suction] Turn Off (ramp down)M2#N
  59. [DBG] [suction] update_power_control, setting 0M[
  60. [DBG] vacctrl(0)MS
  61. [DBG] all cliffs disabledM*R
  62. [DBG] [SFTY] Emitter ctrl: send successM*w-
  63. [DBG] [CEM] sending turn OFF cmd at 711M10S
  64. [DBG] [CEM] recvd turn OFF cmd response at 728M/#
  65. [DBG] RPC Switched pwr voter 4 set vote to 0MG8
  66. [DBG] motion hub initMG8
  67. [DBG] motion hub initMG8
  68. [DBG] motion hub initM+ I
  69. [DBG] Sending Mobility Crash Log to Nav.M6=
  70. [DBG] mh-initialize: finished, calls before done: 2Mk
  71. [DBG] Starting ApplicationMF5
  72. [DBG] pb initM1&
  73. [DBG] [safety] shutdownM/'
  74. [DBG] RPC Switched pwr voter 4 set vote to 1Mb
  75.  
  76.  
  77. [DBG] 8 Brushes InitializedMz
  78. [DBG] get_calibrationMG8
  79. [DBG] motion hub initM=lr
  80. [DBG] [ROBOT_ALLEY]: ---- RESET BUMPER ALLEY DETECTOR-----M&me
  81. [DBG] Refl: enable default reflexesM'f
  82. [DBG] Refl: Arbiter offM}
  83. [DBG] Batt infoMk6
  84. [DBG] pb robctrl(11, 0)M/Q8
  85. [DBG] RPC Switched pwr voter 1 set vote to 1M8`>
  86. [DBG] 16 BRUSH_UPDATE 0 clean setting 1, target 12000MRp7
  87. [DBG] 16 BRUSH_UPDATE 0 target 12000.000000 cmd duty 0.000000 ramp 15000.000000M/P
  88. [DBG] RPC Switched pwr voter 2 set vote to 1MG3
  89. [DBG] [DM] saw charger contacts rising 0 falling 1, keep emitters onM&mo
  90. [DBG] [yawmon]: start, yaw 0.000000MBb
  91. [DBG] [bin] removedM.
  92. [DBG] [HR:] haz triggeredM0m
  93. [DBG] [HR:] active: 19Mr
  94.  
  95. [DBG] pb post resetM$K
  96. [DBG] pb no upgradeM) ,
  97. [DBG] [SE]: !wheels_stopped - odom:2,2M;d
  98. [DBG] [SE]: !velocity_stopped - cmd_vel:0,0 meas_vel:9,9M62"
  99. [DBG] [SFTY] Emitter ctrl 1: Busy, will try again 0M)
  100. [DBG] [CEM] sending turn ON cmd at 111M6U
  101. [DBG] [CEM] ERROR send cliff emitter control 1 failMab
  102. [DBG] [power_board] onlineM/P
  103. [DBG] RPC Switched pwr voter 2 set vote to 1MG.
  104. [DBG] [DM] saw charger contacts rising 1 falling 0, keep emitters onM`
  105. [DBG] [bin] insertedMA4g
  106. [DBG] [bin] voter 2 votes to turn bin emitter 1 (1: on 0: off)M*
  107. [DBG] Charge cycle startM%/a
  108. [DBG] [BLC] Current batt level = 0M;
  109. [DBG] [safety] onlineM2TD
  110. [DBG] [SFTY] initial safety cliff cal requestedM18P
  111. [DBG] [SFTY] cliff cal read ctrl: send successM
  112. [DBG] [SFTY] init done!M*R
  113. [DBG] [SFTY] Emitter ctrl: send successM)E
  114. [DBG] [CEM] sending turn ON cmd at 211M0`|
  115. [DBG] [CEM] recvd turn ON cmd response at 228M< >
  116. [DBG] [CEM] cliff valid, enable cliff mask @411 delta 200MW
  117. [DBG] all cliffs enabledM0u
  118. [DBG] DOCK DETECT CHANGE: OFF_DOCK -> ON_DOCKMg)
  119. [DBG] chatter resetM-B
  120. [DBG] [DM] docked! perform docked actions!M#c
  121. [DBG] turning off cliff emittersM-<
  122. [DBG] [DM] voting to turn off bin emittersMABG] [bin] voter 1 votes to turn bin emitter 0 (1: on 0: off)M?*
  123. [DBG] turning off mouseM$lP
  124. [DBG] turning off bumper emittersM'c
  125. [DBG] [suction] Turn Off (ramp down)M2#N
  126. [DBG] [suction] update_power_control, setting 0M[
  127. [DBG] vacctrl(0)MS
  128. [DBG] all cliffs disabledM*R
  129. [DBG] [SFTY] Emitter ctrl: send successM*w-
  130. [DBG] [CEM] sending turn OFF cmd at 711M10S
  131. [DBG] [CEM] recvd turn OFF cmd response at 728M/#
  132. [DBG] RPC Switched pwr voter 4 set vote to 0MG8
  133. [DBG] motion hub initMG8
  134. [DBG] motion hub initMG8
  135. [DBG] motion hub initM+ I
  136. [DBG] Sending Mobility Crash Log to Nav.M6=
  137. [DBG] mh-initialize: finished, calls before done: 2Mk
  138. [DBG] Starting ApplicationMF5
  139. [DBG] pb initM1&
  140. [DBG] [safety] shutdownM/'
  141. [DBG] RPC Switched pwr voter 4 set vote to 1Mb
  142.  
  143.  
  144. [DBG] 8 Brushes InitializedMz
  145. [DBG] get_calibrationMG8
  146. [DBG] motion hub initM=lr
  147. [DBG] [ROBOT_ALLEY]: ---- RESET BUMPER ALLEY DETECTOR-----M&me
  148. [DBG] Refl: enable default reflexesM'f
  149. [DBG] Refl: Arbiter offM}
  150. [DBG] Batt infoMk6
  151. [DBG] pb robctrl(11, 0)M/Q8
  152. [DBG] RPC Switched pwr voter 1 set vote to 1M8`>
  153. [DBG] 16 BRUSH_UPDATE 0 clean setting 1, target 12000MRp7
  154. [DBG] 16 BRUSH_UPDATE 0 target 12000.000000 cmd duty 0.000000 ramp 15000.000000M/P
  155. [DBG] RPC Switched pwr voter 2 set vote to 1MG3
  156. [DBG] [DM] saw charger contacts rising 0 falling 1, keep emitters onM&mo
  157. [DBG] [yawmon]: start, yaw 0.000000MBb
  158. [DBG] [bin] removedM.
  159. [DBG] [HR:] haz triggeredM0m
  160. [DBG] [HR:] active: 19Mr
  161.  
  162. [DBG] pb post resetM$K
  163. [DBG] pb no upgradeM) ,
  164. [DBG] [SE]: !wheels_stopped - odom:2,2M;d
  165. [DBG] [SE]: !velocity_stopped - cmd_vel:0,0 meas_vel:9,9M62"
  166. [DBG] [SFTY] Emitter ctrl 1: Busy, will try again 0M)
  167. [DBG] [CEM] sending turn ON cmd at 111M6U
  168. [DBG] [CEM] ERROR send cliff emitter control 1 failMab
  169. [DBG] [power_board] onlineM/P
  170. [DBG] RPC Switched pwr voter 2 set vote to 1MG.
  171. [DBG] [DM] saw charger contacts rising 1 falling 0, keep emitters onM`
  172. [DBG] [bin] insertedMA4g
  173. [DBG] [bin] voter 2 votes to turn bin emitter 1 (1: on 0: off)M;
  174. [DBG] [safety] onlineM2TD
  175. [DBG] [SFTY] initial safety cliff cal requestedM18P
  176. [DBG] [SFTY] cliff cal read ctrl: send successM
  177. [DBG] [SFTY] init done!M*R
  178. [DBG] [SFTY] Emitter ctrl: send successM)E
  179. [DBG] [CEM] sending turn ON cmd at 211M*
  180. [DBG] Charge cycle startM%/a
  181. [DBG] [BLC] Current batt level = 0M0`|
  182. [DBG] [CEM] recvd turn ON cmd response at 228M< >
  183. [DBG] [CEM] cliff valid, enable cliff mask @411 delta 200MW
  184. [DBG] all cliffs enabledM0u
  185. [DBG] DOCK DETECT CHANGE: OFF_DOCK -> ON_DOCKMg)
  186. [DBG] chatter resetM-B
  187. [DBG] [DM] docked! perform docked actions!M#c
  188. [DBG] turning off cliff emittersM-<
  189. [DBG] [DM] voting to turn off bin emittersMABG] [bin] voter 1 votes to turn bin emitter 0 (1: on 0: off)M?*
  190. [DBG] turning off mouseM$lP
  191. [DBG] turning off bumper emittersM'c
  192. [DBG] [suction] Turn Off (ramp down)M2#N
  193. [DBG] [suction] update_power_control, setting 0M[
  194. [DBG] vacctrl(0)MS
  195. [DBG] all cliffs disabledM*R
  196. [DBG] [SFTY] Emitter ctrl: send successM*w-
  197. [DBG] [CEM] sending turn OFF cmd at 711M10S
  198. [DBG] [CEM] recvd turn OFF cmd response at 728M/#
  199. [DBG] RPC Switched pwr voter 4 set vote to 0MG8
  200. [DBG] motion hub initMG8
  201. [DBG] motion hub initMG8
  202. [DBG] motion hub initM+ I
  203. [DBG] Sending Mobility Crash Log to Nav.M6=
  204. [DBG] mh-initialize: finished, calls before done: 2Mk
  205. [DBG] Starting ApplicationMF5
  206. [DBG] pb initM1&
  207. [DBG] [safety] shutdownM/'
  208. [DBG] RPC Switched pwr voter 4 set vote to 1Mb
  209.  
  210.  
  211. [DBG] 8 Brushes InitializedMz
  212. [DBG] get_calibrationMG8
  213. [DBG] motion hub initM=lr
  214. [DBG] [ROBOT_ALLEY]: ---- RESET BUMPER ALLEY DETECTOR-----M&me
  215. [DBG] Refl: enable default reflexesM'f
  216. [DBG] Refl: Arbiter offM}
  217. [DBG] Batt infoMk6
  218. [DBG] pb robctrl(11, 0)M/Q8
  219. [DBG] RPC Switched pwr voter 1 set vote to 1M8`>
  220. [DBG] 16 BRUSH_UPDATE 0 clean setting 1, target 12000MRp7
  221. [DBG] 16 BRUSH_UPDATE 0 target 12000.000000 cmd duty 0.000000 ramp 15000.000000M/P
  222. [DBG] RPC Switched pwr voter 2 set vote to 1MG3
  223. [DBG] [DM] saw charger contacts rising 0 falling 1, keep emitters onM&mo
  224. [DBG] [yawmon]: start, yaw 0.000000MBb
  225. [DBG] [bin] removedM.
  226. [DBG] [HR:] haz triggeredM0m
  227. [DBG] [HR:] active: 19Mr
  228.  
  229. [DBG] pb post resetM$K
  230. [DBG] pb no upgradeM) ,
  231. [DBG] [SE]: !wheels_stopped - odom:2,2M;d
  232. [DBG] [SE]: !velocity_stopped - cmd_vel:0,0 meas_vel:9,9M62"
  233. [DBG] [SFTY] Emitter ctrl 1: Busy, will try again 0M)
  234. [DBG] [CEM] sending turn ON cmd at 111M6U
  235. [DBG] [CEM] ERROR send cliff emitter control 1 failMab
  236. [DBG] [power_board] onlineM/P
  237. [DBG] RPC Switched pwr voter 2 set vote to 1MG.
  238. [DBG] [DM] saw charger contacts rising 1 falling 0, keep emitters onM`
  239. [DBG] [bin] insertedMA4g
  240. [DBG] [bin] voter 2 votes to turn bin emitter 1 (1: on 0: off)M*
  241. [DBG] Charge cycle startM;
  242. [DBG] [safety] onlineM2TD
  243. [DBG] [SFTY] initial safety cliff cal requestedM18P
  244. [DBG] [SFTY] cliff cal read ctrl: send successM%/a
  245. [DBG] [BLC] Current batt level = 0M
  246. [DBG] [SFTY] init done!M*R
  247. [DBG] [SFTY] Emitter ctrl: send successM)E
  248. [DBG] [CEM] sending turn ON cmd at 211M0`|
  249. [DBG] [CEM] recvd turn ON cmd response at 228M< >
  250. [DBG] [CEM] cliff valid, enable cliff mask @411 delta 200MW
  251. [DBG] all cliffs enabledM0u
  252. [DBG] DOCK DETECT CHANGE: OFF_DOCK -> ON_DOCKMg)
  253. [DBG] chatter resetM-B
  254. [DBG] [DM] docked! perform docked actions!M#c
  255. [DBG] turning off cliff emittersM-<
  256. [DBG] [DM] voting to turn off bin emittersMABG] [bin] voter 1 votes to turn bin emitter 0 (1: on 0: off)M?*
  257. [DBG] turning off mouseM$lP
  258. [DBG] turning off bumper emittersM'c
  259. [DBG] [suction] Turn Off (ramp down)M2#N
  260. [DBG] [suction] update_power_control, setting 0M[
  261. [DBG] vacctrl(0)MS
  262. [DBG] all cliffs disabledM*R
  263. [DBG] [SFTY] Emitter ctrl: send successM*w-
  264. [DBG] [CEM] sending turn OFF cmd at 711M10S
  265. [DBG] [CEM] recvd turn OFF cmd response at 728M/#
  266. [DBG] RPC Switched pwr voter 4 set vote to 0MG8
  267. [DBG] motion hub initMG8
  268. [DBG] motion hub initMG8
  269. [DBG] motion hub initM+ I
  270. [DBG] Sending Mobility Crash Log to Nav.M6=
  271. [DBG] mh-initialize: finished, calls before done: 2Mk
  272. [DBG] Starting ApplicationMF5
  273. [DBG] pb initM1&
  274. [DBG] [safety] shutdownM/'
  275. [DBG] RPC Switched pwr voter 4 set vote to 1Mb
  276.  
  277.  
  278. [DBG] 8 Brushes InitializedMz
  279. [DBG] get_calibrationMG8
  280. [DBG] motion hub initM=lr
  281. [DBG] [ROBOT_ALLEY]: ---- RESET BUMPER ALLEY DETECTOR-----M&me
  282. [DBG] Refl: enable default reflexesM'f
  283. [DBG] Refl: Arbiter offM}
  284. [DBG] Batt infoMk6
  285. [DBG] pb robctrl(11, 0)M/Q8
  286. [DBG] RPC Switched pwr voter 1 set vote to 1M8`>
  287. [DBG] 16 BRUSH_UPDATE 0 clean setting 1, target 12000MRp7
  288. [DBG] 16 BRUSH_UPDATE 0 target 12000.000000 cmd duty 0.000000 ramp 15000.000000M/P
  289. [DBG] RPC Switched pwr voter 2 set vote to 1MG3
  290. [DBG] [DM] saw charger contacts rising 0 falling 1, keep emitters onM&mo
  291. [DBG] [yawmon]: start, yaw 0.000000MBb
  292. [DBG] [bin] removedM.
  293. [DBG] [HR:] haz triggeredM0m
  294. [DBG] [HR:] active: 19Mr
  295.  
  296. [DBG] pb post resetM$K
  297. [DBG] pb no upgradeM) ,
  298. [DBG] [SE]: !wheels_stopped - odom:2,2M;d
  299. [DBG] [SE]: !velocity_stopped - cmd_vel:0,0 meas_vel:9,9M62"
  300. [DBG] [SFTY] Emitter ctrl 1: Busy, will try again 0M)
  301. [DBG] [CEM] sending turn ON cmd at 111M6U
  302. [DBG] [CEM] ERROR send cliff emitter control 1 failMab
  303. [DBG] [power_board] onlineM/P
  304. [DBG] RPC Switched pwr voter 2 set vote to 1MG.
  305. [DBG] [DM] saw charger contacts rising 1 falling 0, keep emitters onM*
  306. [DBG] Charge cycle startM%/a
  307. [DBG] [BLC] Current batt level = 0M`
  308. [DBG] [bin] insertedMA4g
  309. [DBG] [bin] voter 2 votes to turn bin emitter 1 (1: on 0: off)M;
  310. [DBG] [safety] onlineM2TD
  311. [DBG] [SFTY] initial safety cliff cal requestedM18P
  312. [DBG] [SFTY] cliff cal read ctrl: send successM
  313. [DBG] [SFTY] init done!M*R
  314. [DBG] [SFTY] Emitter ctrl: send successM)E
  315. [DBG] [CEM] sending turn ON cmd at 211M0`|
  316. [DBG] [CEM] recvd turn ON cmd response at 228M< >
  317. [DBG] [CEM] cliff valid, enable cliff mask @411 delta 200MW
  318. [DBG] all cliffs enabledM0u
  319. [DBG] DOCK DETECT CHANGE: OFF_DOCK -> ON_DOCKMg)
  320. [DBG] chatter resetM-B
  321. [DBG] [DM] docked! perform docked actions!M#c
  322. [DBG] turning off cliff emittersM-<
  323. [DBG] [DM] voting to turn off bin emittersMABG] [bin] voter 1 votes to turn bin emitter 0 (1: on 0: off)M?*
  324. [DBG] turning off mouseM$lP
  325. [DBG] turning off bumper emittersM'c
  326. [DBG] [suction] Turn Off (ramp down)M2#N
  327. [DBG] [suction] update_power_control, setting 0M[
  328. [DBG] vacctrl(0)MS
  329. [DBG] all cliffs disabledM*R
  330. [DBG] [SFTY] Emitter ctrl: send successM*w-
  331. [DBG] [CEM] sending turn OFF cmd at 711M10S
  332. [DBG] [CEM] recvd turn OFF cmd response at 728M/#
  333. [DBG] RPC Switched pwr voter 4 set vote to 0MG8
  334. [DBG] motion hub initMG8
  335. [DBG] motion hub initMG8
  336. [DBG] motion hub initM+ I
  337. [DBG] Sending Mobility Crash Log to Nav.M6=
  338. [DBG] mh-initialize: finished, calls before done: 2Mk
  339. [DBG] Starting ApplicationMF5
  340. [DBG] pb initM1&
  341. [DBG] [safety] shutdownM/'
  342. [DBG] RPC Switched pwr voter 4 set vote to 1Mb
  343.  
  344.  
  345. [DBG] 8 Brushes InitializedMz
  346. [DBG] get_calibrationMG8
  347. [DBG] motion hub initM=lr
  348. [DBG] [ROBOT_ALLEY]: ---- RESET BUMPER ALLEY DETECTOR-----M&me
  349. [DBG] Refl: enable default reflexesM'f
  350. [DBG] Refl: Arbiter offM}
  351. [DBG] Batt infoMk6
  352. [DBG] pb robctrl(11, 0)M/Q8
  353. [DBG] RPC Switched pwr voter 1 set vote to 1M8`>
  354. [DBG] 16 BRUSH_UPDATE 0 clean setting 1, target 12000MRp7
  355. [DBG] 16 BRUSH_UPDATE 0 target 12000.000000 cmd duty 0.000000 ramp 15000.000000M/P
  356. [DBG] RPC Switched pwr voter 2 set vote to 1MG3
  357. [DBG] [DM] saw charger contacts rising 0 falling 1, keep emitters onM&mo
  358. [DBG] [yawmon]: start, yaw 0.000000MBb
  359. [DBG] [bin] removedM.
  360. [DBG] [HR:] haz triggeredM0m
  361. [DBG] [HR:] active: 19Mr
  362.  
  363. [DBG] pb post resetM$K
  364. [DBG] pb no upgradeM) ,
  365. [DBG] [SE]: !wheels_stopped - odom:2,2M;d
  366. [DBG] [SE]: !velocity_stopped - cmd_vel:0,0 meas_vel:9,9M62"
  367. [DBG] [SFTY] Emitter ctrl 1: Busy, will try again 0M)
  368. [DBG] [CEM] sending turn ON cmd at 111M6U
  369. [DBG] [CEM] ERROR send cliff emitter control 1 failMab
  370. [DBG] [power_board] onlineM%/a
  371. [DBG] [BLC] Current batt level = 0M/P
  372. [DBG] RPC Switched pwr voter 2 set vote to 1MG.
  373. [DBG] [DM] saw charger contacts rising 1 falling 0, keep emitters onM*
  374. [DBG] Charge cycle startM`
  375. [DBG] [bin] insertedMA4g
  376. [DBG] [bin] voter 2 votes to turn bin emitter 1 (1: on 0: off)M;
  377. [DBG] [safety] onlineM2TD
  378. [DBG] [SFTY] initial safety cliff cal requestedM18P
  379. [DBG] [SFTY] cliff cal read ctrl: send successM
  380. [DBG] [SFTY] init done!M*R
  381. [DBG] [SFTY] Emitter ctrl: send successM)E
  382. [DBG] [CEM] sending turn ON cmd at 211M0`|
  383. [DBG] [CEM] recvd turn ON cmd response at 228M< >
  384. [DBG] [CEM] cliff valid, enable cliff mask @411 delta 200MW
  385. [DBG] all cliffs enabledM0u
  386. [DBG] DOCK DETECT CHANGE: OFF_DOCK -> ON_DOCKMg)
  387. [DBG] chatter resetM-B
  388. [DBG] [DM] docked! perform docked actions!M#c
  389. [DBG] turning off cliff emittersM-<
  390. [DBG] [DM] voting to turn off bin emittersMABG] [bin] voter 1 votes to turn bin emitter 0 (1: on 0: off)M?*
  391. [DBG] turning off mouseM$lP
  392. [DBG] turning off bumper emittersM'c
  393. [DBG] [suction] Turn Off (ramp down)M2#N
  394. [DBG] [suction] update_power_control, setting 0M[
  395. [DBG] vacctrl(0)MS
  396. [DBG] all cliffs disabledM*R
  397. [DBG] [SFTY] Emitter ctrl: send successM*w-
  398. [DBG] [CEM] sending turn OFF cmd at 711M10S
  399. [DBG] [CEM] recvd turn OFF cmd response at 728M/#
  400. [DBG] RPC Switched pwr voter 4 set vote to 0MG8
  401. [DBG] motion hub initMG8
  402. [DBG] motion hub initMG8
  403. [DBG] motion hub initM+ I
  404. [DBG] Sending Mobility Crash Log to Nav.M6=
  405. [DBG] mh-initialize: finished, calls before done: 2Mk
  406. [DBG] Starting ApplicationMF5
  407. [DBG] pb initM1&
  408. [DBG] [safety] shutdownM/'
  409. [DBG] RPC Switched pwr voter 4 set vote to 1Mb
  410.  
  411.  
  412. [DBG] 8 Brushes InitializedMz
  413. [DBG] get_calibrationMG8
  414. [DBG] motion hub initM=lr
  415. [DBG] [ROBOT_ALLEY]: ---- RESET BUMPER ALLEY DETECTOR-----M&me
  416. [DBG] Refl: enable default reflexesM'f
  417. [DBG] Refl: Arbiter offM}
  418. [DBG] Batt infoMk6
  419. [DBG] pb robctrl(11, 0)M/Q8
  420. [DBG] RPC Switched pwr voter 1 set vote to 1M8`>
  421. [DBG] 16 BRUSH_UPDATE 0 clean setting 1, target 12000MRp7
  422. [DBG] 16 BRUSH_UPDATE 0 target 12000.000000 cmd duty 0.000000 ramp 15000.000000M/P
  423. [DBG] RPC Switched pwr voter 2 set vote to 1MG3
  424. [DBG] [DM] saw charger contacts rising 0 falling 1, keep emitters onM&mo
  425. [DBG] [yawmon]: start, yaw 0.000000MBb
  426. [DBG] [bin] removedM.
  427. [DBG] [HR:] haz triggeredM0m
  428. [DBG] [HR:] active: 19Mr
  429.  
  430. [DBG] pb post resetM$K
  431. [DBG] pb no upgradeM) ,
  432. [DBG] [SE]: !wheels_stopped - odom:2,2M;d
  433. [DBG] [SE]: !velocity_stopped - cmd_vel:0,0 meas_vel:9,9M62"
  434. [DBG] [SFTY] Emitter ctrl 1: Busy, will try again 0M)
  435. [DBG] [CEM] sending turn ON cmd at 111M6U
  436. [DBG] [CEM] ERROR send cliff emitter control 1 failMab
  437. [DBG] [power_board] onlineM/P
  438. [DBG] RPC Switched pwr voter 2 set vote to 1MG.
  439. [DBG] [DM] saw charger contacts rising 1 falling 0, keep emitters onM`
  440. [DBG] [bin] insertedMA4g
  441. [DBG] [bin] voter 2 votes to turn bin emitter 1 (1: on 0: off)M*
  442. [DBG] Charge cycle startM%/a
  443. [DBG] [BLC] Current batt level = 0M;
  444. [DBG] [safety] onlineM2TD
  445. [DBG] [SFTY] initial safety cliff cal requestedM18P
  446. [DBG] [SFTY] cliff cal read ctrl: send successM
  447. [DBG] [SFTY] init done!M*R
  448. [DBG] [SFTY] Emitter ctrl: send successM)E
  449. [DBG] [CEM] sending turn ON cmd at 211M0`|
  450. [DBG] [CEM] recvd turn ON cmd response at 228M< >
  451. [DBG] [CEM] cliff valid, enable cliff mask @411 delta 200MW
  452. [DBG] all cliffs enabledM0u
  453. [DBG] DOCK DETECT CHANGE: OFF_DOCK -> ON_DOCKMg)
  454. [DBG] chatter resetM-B
  455. [DBG] [DM] docked! perform docked actions!M#c
  456. [DBG] turning off cliff emittersM-<
  457. [DBG] [DM] voting to turn off bin emittersMABG] [bin] voter 1 votes to turn bin emitter 0 (1: on 0: off)M?*
  458. [DBG] turning off mouseM$lP
  459. [DBG] turning off bumper emittersM'c
  460. [DBG] [suction] Turn Off (ramp down)M2#N
  461. [DBG] [suction] update_power_control, setting 0M[
  462. [DBG] vacctrl(0)MS
  463. [DBG] all cliffs disabledM*R
  464. [DBG] [SFTY] Emitter ctrl: send successM*w-
  465. [DBG] [CEM] sending turn OFF cmd at 711M10S
  466. [DBG] [CEM] recvd turn OFF cmd response at 728M/#
  467. [DBG] RPC Switched pwr voter 4 set vote to 0MG8
  468. [DBG] motion hub initMG8
  469. [DBG] motion hub initMG8
  470. [DBG] motion hub initM+ I
  471. [DBG] Sending Mobility Crash Log to Nav.M6=
  472. [DBG] mh-initialize: finished, calls before done: 2Mk
  473. [DBG] Starting ApplicationMF5
  474. [DBG] pb initM1&
  475. [DBG] [safety] shutdownM/'
  476. [DBG] RPC Switched pwr voter 4 set vote to 1Mb
  477.  
  478.  
  479. [DBG] 8 Brushes InitializedMz
  480. [DBG] get_calibrationMG8
  481. [DBG] motion hub initM=lr
  482. [DBG] [ROBOT_ALLEY]: ---- RESET BUMPER ALLEY DETECTOR-----M&me
  483. [DBG] Refl: enable default reflexesM'f
  484. [DBG] Refl: Arbiter offM}
  485. [DBG] Batt infoMk6
  486. [DBG] pb robctrl(11, 0)M/Q8
  487. [DBG] RPC Switched pwr voter 1 set vote to 1M8`>
  488. [DBG] 16 BRUSH_UPDATE 0 clean setting 1, target 12000MRp7
  489. [DBG] 16 BRUSH_UPDATE 0 target 12000.000000 cmd duty 0.000000 ramp 15000.000000M/P
  490. [DBG] RPC Switched pwr voter 2 set vote to 1MG3
  491. [DBG] [DM] saw charger contacts rising 0 falling 1, keep emitters onM&mo
  492. [DBG] [yawmon]: start, yaw 0.000000MBb
  493. [DBG] [bin] removedM.
  494. [DBG] [HR:] haz triggeredM0m
  495. [DBG] [HR:] active: 19Mr
  496.  
  497. [DBG] pb post resetM$K
  498. [DBG] pb no upgradeM) ,
  499. [DBG] [SE]: !wheels_stopped - odom:2,2M;d
  500. [DBG] [SE]: !velocity_stopped - cmd_vel:0,0 meas_vel:9,9M62"
  501. [DBG] [SFTY] Emitter ctrl 1: Busy, will try again 0M)
  502. [DBG] [CEM] sending turn ON cmd at 111M6U
  503. [DBG] [CEM] ERROR send cliff emitter control 1 failMab
  504. [DBG] [power_board] onlineM/P
  505. [DBG] RPC Switched pwr voter 2 set vote to 1MG.
  506. [DBG] [DM] saw charger contacts rising 1 falling 0, keep emitters onM*
  507. [DBG] Charge cycle startM%/a
  508. [DBG] [BLC] Current batt level = 0M`
  509. [DBG] [bin] insertedMA4g
  510. [DBG] [bin] voter 2 votes to turn bin emitter 1 (1: on 0: off)M;
  511. [DBG] [safety] onlineM2TD
  512. [DBG] [SFTY] initial safety cliff cal requestedM18P
  513. [DBG] [SFTY] cliff cal read ctrl: send successM
  514. [DBG] [SFTY] init done!M*R
  515. [DBG] [SFTY] Emitter ctrl: send successM)E
  516. [DBG] [CEM] sending turn ON cmd at 211M0`|
  517. [DBG] [CEM] recvd turn ON cmd response at 228M< >
  518. [DBG] [CEM] cliff valid, enable cliff mask @411 delta 200MW
  519. [DBG] all cliffs enabledM0u
  520. [DBG] DOCK DETECT CHANGE: OFF_DOCK -> ON_DOCKMg)
  521. [DBG] chatter resetM-B
  522. [DBG] [DM] docked! perform docked actions!M#c
  523. [DBG] turning off cliff emittersM-<
  524. [DBG] [DM] voting to turn off bin emittersMABG] [bin] voter 1 votes to turn bin emitter 0 (1: on 0: off)M?*
  525. [DBG] turning off mouseM$lP
  526. [DBG] turning off bumper emittersM'c
  527. [DBG] [suction] Turn Off (ramp down)M2#N
  528. [DBG] [suction] update_power_control, setting 0M[
  529. [DBG] vacctrl(0)MS
  530. [DBG] all cliffs disabledM*R
  531. [DBG] [SFTY] Emitter ctrl: send successM*w-
  532. [DBG] [CEM] sending turn OFF cmd at 711M10S
  533. [DBG] [CEM] recvd turn OFF cmd response at 728M/#
  534. [DBG] RPC Switched pwr voter 4 set vote to 0MG8
  535. [DBG] motion hub initMG8
  536. [DBG] motion hub initMG8
  537. [DBG] motion hub initM+ I
  538. [DBG] Sending Mobility Crash Log to Nav.M6=
  539. [DBG] mh-initialize: finished, calls before done: 2Mk
  540. [DBG] Starting ApplicationMF5
  541. [DBG] pb initM1&
  542. [DBG] [safety] shutdownM/'
  543. [DBG] RPC Switched pwr voter 4 set vote to 1Mb
  544.  
  545.  
  546. [DBG] 8 Brushes InitializedMz
  547. [DBG] get_calibrationMG8
  548. [DBG] motion hub initM=lr
  549. [DBG] [ROBOT_ALLEY]: ---- RESET BUMPER ALLEY DETECTOR-----M&me
  550. [DBG] Refl: enable default reflexesM'f
  551. [DBG] Refl: Arbiter offM}
  552. [DBG] Batt infoMk6
  553. [DBG] pb robctrl(11, 0)M/Q8
  554. [DBG] RPC Switched pwr voter 1 set vote to 1M8`>
  555. [DBG] 16 BRUSH_UPDATE 0 clean setting 1, target 12000MRp7
  556. [DBG] 16 BRUSH_UPDATE 0 target 12000.000000 cmd duty 0.000000 ramp 15000.000000M/P
  557. [DBG] RPC Switched pwr voter 2 set vote to 1MG3
  558. [DBG] [DM] saw charger contacts rising 0 falling 1, keep emitters onM&mo
  559. [DBG] [yawmon]: start, yaw 0.000000MBb
  560. [DBG] [bin] removedM.
  561. [DBG] [HR:] haz triggeredM0m
  562. [DBG] [HR:] active: 19Mr
  563.  
  564. [DBG] pb post resetM$K
  565. [DBG] pb no upgradeM) ,
  566. [DBG] [SE]: !wheels_stopped - odom:2,2M;d
  567. [DBG] [SE]: !velocity_stopped - cmd_vel:0,0 meas_vel:9,9M62"
  568. [DBG] [SFTY] Emitter ctrl 1: Busy, will try again 0M)
  569. [DBG] [CEM] sending turn ON cmd at 111M6U
  570. [DBG] [CEM] ERROR send cliff emitter control 1 failMab
  571. [DBG] [power_board] onlineM/P
  572. [DBG] RPC Switched pwr voter 2 set vote to 1MG.
  573. [DBG] [DM] saw charger contacts rising 1 falling 0, keep emitters onM`
  574. [DBG] [bin] insertedMA4g
  575. [DBG] [bin] voter 2 votes to turn bin emitter 1 (1: on 0: off)M*
  576. [DBG] Charge cycle startM;
  577. [DBG] [safety] onlineM2TD
  578. [DBG] [SFTY] initial safety cliff cal requestedM18P
  579. [DBG] [SFTY] cliff cal read ctrl: send successM%/a
  580. [DBG] [BLC] Current batt level = 0M
  581. [DBG] [SFTY] init done!M*R
  582. [DBG] [SFTY] Emitter ctrl: send successM)E
  583. [DBG] [CEM] sending turn ON cmd at 211M0`|
  584. [DBG] [CEM] recvd turn ON cmd response at 228M< >
  585. [DBG] [CEM] cliff valid, enable cliff mask @411 delta 200MW
  586. [DBG] all cliffs enabledM0u
  587. [DBG] DOCK DETECT CHANGE: OFF_DOCK -> ON_DOCKMg)
  588. [DBG] chatter resetM-B
  589. [DBG] [DM] docked! perform docked actions!M#c
  590. [DBG] turning off cliff emittersM-<
  591. [DBG] [DM] voting to turn off bin emittersMABG] [bin] voter 1 votes to turn bin emitter 0 (1: on 0: off)M?*
  592. [DBG] turning off mouseM$lP
  593. [DBG] turning off bumper emittersM'c
  594. [DBG] [suction] Turn Off (ramp down)M2#N
  595. [DBG] [suction] update_power_control, setting 0M[
  596. [DBG] vacctrl(0)MS
  597. [DBG] all cliffs disabledM*R
  598. [DBG] [SFTY] Emitter ctrl: send successM*w-
  599. [DBG] [CEM] sending turn OFF cmd at 711M10S
  600. [DBG] [CEM] recvd turn OFF cmd response at 728M/#
  601. [DBG] RPC Switched pwr voter 4 set vote to 0MG8
  602. [DBG] motion hub initMG8
  603. [DBG] motion hub initMG8
  604. [DBG] motion hub initM+ I
  605. [DBG] Sending Mobility Crash Log to Nav.M6=
  606. [DBG] mh-initialize: finished, calls before done: 2Mk
  607. [DBG] Starting ApplicationMF5
  608. [DBG] pb initM1&
  609. [DBG] [safety] shutdownM/'
  610. [DBG] RPC Switched pwr voter 4 set vote to 1Mb
  611.  
  612.  
  613. [DBG] 8 Brushes InitializedMz
  614. [DBG] get_calibrationMG8
  615. [DBG] motion hub initM=lr
  616. [DBG] [ROBOT_ALLEY]: ---- RESET BUMPER ALLEY DETECTOR-----M&me
  617. [DBG] Refl: enable default reflexesM'f
  618. [DBG] Refl: Arbiter offM}
  619. [DBG] Batt infoMk6
  620. [DBG] pb robctrl(11, 0)M/Q8
  621. [DBG] RPC Switched pwr voter 1 set vote to 1M8`>
  622. [DBG] 16 BRUSH_UPDATE 0 clean setting 1, target 12000MRp7
  623. [DBG] 16 BRUSH_UPDATE 0 target 12000.000000 cmd duty 0.000000 ramp 15000.000000M/P
  624. [DBG] RPC Switched pwr voter 2 set vote to 1MG3
  625. [DBG] [DM] saw charger contacts rising 0 falling 1, keep emitters onM&mo
  626. [DBG] [yawmon]: start, yaw 0.000000MBb
  627. [DBG] [bin] removedM.
  628. [DBG] [HR:] haz triggeredM0m
  629. [DBG] [HR:] active: 19Mr
  630.  
  631. [DBG] pb post resetM$K
  632. [DBG] pb no upgradeM) ,
  633. [DBG] [SE]: !wheels_stopped - odom:2,2M;d
  634. [DBG] [SE]: !velocity_stopped - cmd_vel:0,0 meas_vel:9,9M62"
  635. [DBG] [SFTY] Emitter ctrl 1: Busy, will try again 0M)
  636. [DBG] [CEM] sending turn ON cmd at 111M6U
  637. [DBG] [CEM] ERROR send cliff emitter control 1 failMab
  638. [DBG] [power_board] onlineM/P
  639. [DBG] RPC Switched pwr voter 2 set vote to 1MG.
  640. [DBG] [DM] saw charger contacts rising 1 falling 0, keep emitters onM*
  641. [DBG] Charge cycle startM%/a
  642. [DBG] [BLC] Current batt level = 0M`
  643. [DBG] [bin] insertedMA4g
  644. [DBG] [bin] voter 2 votes to turn bin emitter 1 (1: on 0: off)M;
  645. [DBG] [safety] onlineM2TD
  646. [DBG] [SFTY] initial safety cliff cal requestedM18P
  647. [DBG] [SFTY] cliff cal read ctrl: send successM
  648. [DBG] [SFTY] init done!M*R
  649. [DBG] [SFTY] Emitter ctrl: send successM)E
  650. [DBG] [CEM] sending turn ON cmd at 211M0`|
  651. [DBG] [CEM] recvd turn ON cmd response at 228M< >
  652. [DBG] [CEM] cliff valid, enable cliff mask @411 delta 200MW
  653. [DBG] all cliffs enabledM0u
  654. [DBG] DOCK DETECT CHANGE: OFF_DOCK -> ON_DOCKMg)
  655. [DBG] chatter resetM-B
  656. [DBG] [DM] docked! perform docked actions!M#c
  657. [DBG] turning off cliff emittersM-<
  658. [DBG] [DM] voting to turn off bin emittersMABG] [bin] voter 1 votes to turn bin emitter 0 (1: on 0: off)M?*
  659. [DBG] turning off mouseM$lP
  660. [DBG] turning off bumper emittersM'c
  661. [DBG] [suction] Turn Off (ramp down)M2#N
  662. [DBG] [suction] update_power_control, setting 0M[
  663. [DBG] vacctrl(0)MS
  664. [DBG] all cliffs disabledM*R
  665. [DBG] [SFTY] Emitter ctrl: send successM*w-
  666. [DBG] [CEM] sending turn OFF cmd at 711M10S
  667. [DBG] [CEM] recvd turn OFF cmd response at 728M/#
  668. [DBG] RPC Switched pwr voter 4 set vote to 0MG8
  669. [DBG] motion hub initMG8
  670. [DBG] motion hub initMG8
  671. [DBG] motion hub initM+ I
  672. [DBG] Sending Mobility Crash Log to Nav.M6=
  673. [DBG] mh-initialize: finished, calls before done: 2Mk
  674. [DBG] Starting ApplicationMF5
  675. [DBG] pb initM1&
  676. [DBG] [safety] shutdownM/'
  677. [DBG] RPC Switched pwr voter 4 set vote to 1Mb
  678.  
  679.  
  680. [DBG] 8 Brushes InitializedMz
  681. [DBG] get_calibrationMG8
  682. [DBG] motion hub initM=lr
  683. [DBG] [ROBOT_ALLEY]: ---- RESET BUMPER ALLEY DETECTOR-----M&me
  684. [DBG] Refl: enable default reflexesM'f
  685. [DBG] Refl: Arbiter offM}
  686. [DBG] Batt infoMk6
  687. [DBG] pb robctrl(11, 0)M/Q8
  688. [DBG] RPC Switched pwr voter 1 set vote to 1M8`>
  689. [DBG] 16 BRUSH_UPDATE 0 clean setting 1, target 12000MRp7
  690. [DBG] 16 BRUSH_UPDATE 0 target 12000.000000 cmd duty 0.000000 ramp 15000.000000M/P
  691. [DBG] RPC Switched pwr voter 2 set vote to 1MG3
  692. [DBG] [DM] saw charger contacts rising 0 falling 1, keep emitters onM&mo
  693. [DBG] [yawmon]: start, yaw 0.000000MBb
  694. [DBG] [bin] removedM.
  695. [DBG] [HR:] haz triggeredM0m
  696. [DBG] [HR:] active: 19Mr
  697.  
  698. [DBG] pb post resetM$K
  699. [DBG] pb no upgradeM) ,
  700. [DBG] [SE]: !wheels_stopped - odom:2,2M;d
  701. [DBG] [SE]: !velocity_stopped - cmd_vel:0,0 meas_vel:9,9M62"
  702. [DBG] [SFTY] Emitter ctrl 1: Busy, will try again 0M)
  703. [DBG] [CEM] sending turn ON cmd at 111M6U
  704. [DBG] [CEM] ERROR send cliff emitter control 1 failMab
  705. [DBG] [power_board] onlineM%/a
  706. [DBG] [BLC] Current batt level = 0M/P
  707. [DBG] RPC Switched pwr voter 2 set vote to 1MG.
  708. [DBG] [DM] saw charger contacts rising 1 falling 0, keep emitters onM`
  709. [DBG] [bin] insertedMA4g
  710. [DBG] [bin] voter 2 votes to turn bin emitter 1 (1: on 0: off)M;
  711. [DBG] [safety] onlineM2TD
  712. [DBG] [SFTY] initial safety cliff cal requestedM18P
  713. [DBG] [SFTY] cliff cal read ctrl: send successM*
  714. [DBG] Charge cycle startM
  715. [DBG] [SFTY] init done!M*R
  716. [DBG] [SFTY] Emitter ctrl: send successM)E
  717. [DBG] [CEM] sending turn ON cmd at 211M0`|
  718. [DBG] [CEM] recvd turn ON cmd response at 228M< >
  719. [DBG] [CEM] cliff valid, enable cliff mask @411 delta 200MW
  720. [DBG] all cliffs enabledM0u
  721. [DBG] DOCK DETECT CHANGE: OFF_DOCK -> ON_DOCKMg)
  722. [DBG] chatter resetM-B
  723. [DBG] [DM] docked! perform docked actions!M#c
  724. [DBG] turning off cliff emittersM-<
  725. [DBG] [DM] voting to turn off bin emittersMABG] [bin] voter 1 votes to turn bin emitter 0 (1: on 0: off)M?*
  726. [DBG] turning off mouseM$lP
  727. [DBG] turning off bumper emittersM'c
  728. [DBG] [suction] Turn Off (ramp down)M2#N
  729. [DBG] [suction] update_power_control, setting 0M[
  730. [DBG] vacctrl(0)MS
  731. [DBG] all cliffs disabledM*R
  732. [DBG] [SFTY] Emitter ctrl: send successM*w-
  733. [DBG] [CEM] sending turn OFF cmd at 711M10S
  734. [DBG] [CEM] recvd turn OFF cmd response at 728M/#
  735. [DBG] RPC Switched pwr voter 4 set vote to 0MG8
  736. [DBG] motion hub initMG8
  737. [DBG] motion hub initMG8
  738. [DBG] motion hub initM+ I
  739. [DBG] Sending Mobility Crash Log to Nav.M6=
  740. [DBG] mh-initialize: finished, calls before done: 2Mk
  741. [DBG] Starting ApplicationMF5
  742. [DBG] pb initM1&
  743. [DBG] [safety] shutdownM/'
  744. [DBG] RPC Switched pwr voter 4 set vote to 1Mb
  745.  
  746.  
  747. [DBG] 8 Brushes InitializedMz
  748. [DBG] get_calibrationMG8
  749. [DBG] motion hub initM=lr
  750. [DBG] [ROBOT_ALLEY]: ---- RESET BUMPER ALLEY DETECTOR-----M&me
  751. [DBG] Refl: enable default reflexesM'f
  752. [DBG] Refl: Arbiter offM}
  753. [DBG] Batt infoMk6
  754. [DBG] pb robctrl(11, 0)M/Q8
  755. [DBG] RPC Switched pwr voter 1 set vote to 1M8`>
  756. [DBG] 16 BRUSH_UPDATE 0 clean setting 1, target 12000MRp7
  757. [DBG] 16 BRUSH_UPDATE 0 target 12000.000000 cmd duty 0.000000 ramp 15000.000000M/P
  758. [DBG] RPC Switched pwr voter 2 set vote to 1MG3
  759. [DBG] [DM] saw charger contacts rising 0 falling 1, keep emitters onM&mo
  760. [DBG] [yawmon]: start, yaw 0.000000MBb
  761. [DBG] [bin] removedM.
  762. [DBG] [HR:] haz triggeredM0m
  763. [DBG] [HR:] active: 19Mr
  764.  
  765. [DBG] pb post resetM$K
  766. [DBG] pb no upgradeM) ,
  767. [DBG] [SE]: !wheels_stopped - odom:2,2M;d
  768. [DBG] [SE]: !velocity_stopped - cmd_vel:0,0 meas_vel:9,9M62"
  769. [DBG] [SFTY] Emitter ctrl 1: Busy, will try again 0M)
  770. [DBG] [CEM] sending turn ON cmd at 111M6U
  771. [DBG] [CEM] ERROR send cliff emitter control 1 failMab
  772. [DBG] [power_board] onlineM/P
  773. [DBG] RPC Switched pwr voter 2 set vote to 1MG.
  774. [DBG] [DM] saw charger contacts rising 1 falling 0, keep emitters onM`
  775. [DBG] [bin] insertedMA4g
  776. [DBG] [bin] voter 2 votes to turn bin emitter 1 (1: on 0: off)M*
  777. [DBG] Charge cycle startM%/a
  778. [DBG] [BLC] Current batt level = 0M;
  779. [DBG] [safety] onlineM2TD
  780. [DBG] [SFTY] initial safety cliff cal requestedM18P
  781. [DBG] [SFTY] cliff cal read ctrl: send successM
  782. [DBG] [SFTY] init done!M*R
  783. [DBG] [SFTY] Emitter ctrl: send successM)E
  784. [DBG] [CEM] sending turn ON cmd at 211M0`|
  785. [DBG] [CEM] recvd turn ON cmd response at 228M< >
  786. [DBG] [CEM] cliff valid, enable cliff mask @411 delta 200MW
  787. [DBG] all cliffs enabledM0u
  788. [DBG] DOCK DETECT CHANGE: OFF_DOCK -> ON_DOCKMg)
  789. [DBG] chatter resetM-B
  790. [DBG] [DM] docked! perform docked actions!M#c
  791. [DBG] turning off cliff emittersM-<
  792. [DBG] [DM] voting to turn off bin emittersMABG] [bin] voter 1 votes to turn bin emitter 0 (1: on 0: off)M?*
  793. [DBG] turning off mouseM$lP
  794. [DBG] turning off bumper emittersM'c
  795. [DBG] [suction] Turn Off (ramp down)M2#N
  796. [DBG] [suction] update_power_control, setting 0M[
  797. [DBG] vacctrl(0)MS
  798. [DBG] all cliffs disabledM*R
  799. [DBG] [SFTY] Emitter ctrl: send successM*w-
  800. [DBG] [CEM] sending turn OFF cmd at 711M10S
  801. [DBG] [CEM] recvd turn OFF cmd response at 728M/#
  802. [DBG] RPC Switched pwr voter 4 set vote to 0MG8
  803. [DBG] motion hub initMG8
  804. [DBG] motion hub initMG8
  805. [DBG] motion hub initM+ I
  806. [DBG] Sending Mobility Crash Log to Nav.M6=
  807. [DBG] mh-initialize: finished, calls before done: 2Mk
  808. [DBG] Starting ApplicationMF5
  809. [DBG] pb initM1&
  810. [DBG] [safety] shutdownM/'
  811. [DBG] RPC Switched pwr voter 4 set vote to 1Mb
  812.  
  813.  
  814. [DBG] 8 Brushes InitializedMz
  815. [DBG] get_calibrationMG8
  816. [DBG] motion hub initM=lr
  817. [DBG] [ROBOT_ALLEY]: ---- RESET BUMPER ALLEY DETECTOR-----M&me
  818. [DBG] Refl: enable default reflexesM'f
  819. [DBG] Refl: Arbiter offM}
  820. [DBG] Batt infoMk6
  821. [DBG] pb robctrl(11, 0)M/Q8
  822. [DBG] RPC Switched pwr voter 1 set vote to 1M8`>
  823. [DBG] 16 BRUSH_UPDATE 0 clean setting 1, target 12000MRp7
  824. [DBG] 16 BRUSH_UPDATE 0 target 12000.000000 cmd duty 0.000000 ramp 15000.000000M/P
  825. [DBG] RPC Switched pwr voter 2 set vote to 1MG3
  826. [DBG] [DM] saw charger contacts rising 0 falling 1, keep emitters onM&mo
  827. [DBG] [yawmon]: start, yaw 0.000000MBb
  828. [DBG] [bin] removedM.
  829. [DBG] [HR:] haz triggeredM0m
  830. [DBG] [HR:] active: 19Mr
  831.  
  832. [DBG] pb post resetM$K
  833. [DBG] pb no upgradeM) ,
  834. [DBG] [SE]: !wheels_stopped - odom:2,2M;d
  835. [DBG] [SE]: !velocity_stopped - cmd_vel:0,0 meas_vel:9,9M62"
  836. [DBG] [SFTY] Emitter ctrl 1: Busy, will try again 0M)
  837. [DBG] [CEM] sending turn ON cmd at 111M6U
  838. [DBG] [CEM] ERROR send cliff emitter control 1 failMab
  839. [DBG] [power_board] onlineM/P
  840. [DBG] RPC Switched pwr voter 2 set vote to 1MG.
  841. [DBG] [DM] saw charger contacts rising 1 falling 0, keep emitters onM*
  842. [DBG] Charge cycle startM%/a
  843. [DBG] [BLC] Current batt level = 0M`
  844. [DBG] [bin] insertedMA4g
  845. [DBG] [bin] voter 2 votes to turn bin emitter 1 (1: on 0: off)M;
  846. [DBG] [safety] onlineM2TD
  847. [DBG] [SFTY] initial safety cliff cal requestedM18P
  848. [DBG] [SFTY] cliff cal read ctrl: send successM
  849. [DBG] [SFTY] init done!M*R
  850. [DBG] [SFTY] Emitter ctrl: send successM)E
  851. [DBG] [CEM] sending turn ON cmd at 211M0`|
  852. [DBG] [CEM] recvd turn ON cmd response at 228M< >
  853. [DBG] [CEM] cliff valid, enable cliff mask @411 delta 200MW
  854. [DBG] all cliffs enabledM0u
  855. [DBG] DOCK DETECT CHANGE: OFF_DOCK -> ON_DOCKMg)
  856. [DBG] chatter resetM-B
  857. [DBG] [DM] docked! perform docked actions!M#c
  858. [DBG] turning off cliff emittersM-<
  859. [DBG] [DM] voting to turn off bin emittersMABG] [bin] voter 1 votes to turn bin emitter 0 (1: on 0: off)M?*
  860. [DBG] turning off mouseM$lP
  861. [DBG] turning off bumper emittersM'c
  862. [DBG] [suction] Turn Off (ramp down)M2#N
  863. [DBG] [suction] update_power_control, setting 0M[
  864. [DBG] vacctrl(0)MS
  865. [DBG] all cliffs disabledM*R
  866. [DBG] [SFTY] Emitter ctrl: send successM*w-
  867. [DBG] [CEM] sending turn OFF cmd at 711M10S
  868. [DBG] [CEM] recvd turn OFF cmd response at 728M/#
  869. [DBG] RPC Switched pwr voter 4 set vote to 0MG8
  870. [DBG] motion hub initMG8
  871. [DBG] motion hub initMG8
  872. [DBG] motion hub initM+ I
  873. [DBG] Sending Mobility Crash Log to Nav.M6=
  874. [DBG] mh-initialize: finished, calls before done: 2Mk
  875. [DBG] Starting ApplicationMF5
  876. [DBG] pb initM1&
  877. [DBG] [safety] shutdownM/'
  878. [DBG] RPC Switched pwr voter 4 set vote to 1Mb
  879.  
  880.  
  881. [DBG] 8 Brushes InitializedMz
  882. [DBG] get_calibrationMG8
  883. [DBG] motion hub initM=lr
  884. [DBG] [ROBOT_ALLEY]: ---- RESET BUMPER ALLEY DETECTOR-----M&me
  885. [DBG] Refl: enable default reflexesM'f
  886. [DBG] Refl: Arbiter offM}
  887. [DBG] Batt infoMk6
  888. [DBG] pb robctrl(11, 0)M/Q8
  889. [DBG] RPC Switched pwr voter 1 set vote to 1M8`>
  890. [DBG] 16 BRUSH_UPDATE 0 clean setting 1, target 12000MRp7
  891. [DBG] 16 BRUSH_UPDATE 0 target 12000.000000 cmd duty 0.000000 ramp 15000.000000M/P
  892. [DBG] RPC Switched pwr voter 2 set vote to 1MG3
  893. [DBG] [DM] saw charger contacts rising 0 falling 1, keep emitters onM&mo
  894. [DBG] [yawmon]: start, yaw 0.000000MBb
  895. [DBG] [bin] removedM.
  896. [DBG] [HR:] haz triggeredM0m
  897. [DBG] [HR:] active: 19Mr
  898.  
  899. [DBG] pb post resetM$K
  900. [DBG] pb no upgradeM) ,
  901. [DBG] [SE]: !wheels_stopped - odom:2,2M;d
  902. [DBG] [SE]: !velocity_stopped - cmd_vel:0,0 meas_vel:9,9M62"
  903. [DBG] [SFTY] Emitter ctrl 1: Busy, will try again 0M)
  904. [DBG] [CEM] sending turn ON cmd at 111M6U
  905. [DBG] [CEM] ERROR send cliff emitter control 1 failMab
  906. [DBG] [power_board] onlineM/P
  907. [DBG] RPC Switched pwr voter 2 set vote to 1MG.
  908. [DBG] [DM] saw charger contacts rising 1 falling 0, keep emitters onM`
  909. [DBG] [bin] insertedMA4g
  910. [DBG] [bin] voter 2 votes to turn bin emitter 1 (1: on 0: off)M*
  911. [DBG] Charge cycle startM%/a
  912. [DBG] [BLC] Current batt level = 0M;
  913. [DBG] [safety] onlineM2TD
  914. [DBG] [SFTY] initial safety cliff cal requestedM18P
  915. [DBG] [SFTY] cliff cal read ctrl: send successM
  916. [DBG] [SFTY] init done!M*R
  917. [DBG] [SFTY] Emitter ctrl: send successM)E
  918. [DBG] [CEM] sending turn ON cmd at 211M0`|
  919. [DBG] [CEM] recvd turn ON cmd response at 228M< >
  920. [DBG] [CEM] cliff valid, enable cliff mask @411 delta 200MW
  921. [DBG] all cliffs enabledM0u
  922. [DBG] DOCK DETECT CHANGE: OFF_DOCK -> ON_DOCKMg)
  923. [DBG] chatter resetM-B
  924. [DBG] [DM] docked! perform docked actions!M#c
  925. [DBG] turning off cliff emittersM-<
  926. [DBG] [DM] voting to turn off bin emittersMABG] [bin] voter 1 votes to turn bin emitter 0 (1: on 0: off)M?*
  927. [DBG] turning off mouseM$lP
  928. [DBG] turning off bumper emittersM'c
  929. [DBG] [suction] Turn Off (ramp down)M2#N
  930. [DBG] [suction] update_power_control, setting 0M[
  931. [DBG] vacctrl(0)MS
  932. [DBG] all cliffs disabledM*R
  933. [DBG] [SFTY] Emitter ctrl: send successM*w-
  934. [DBG] [CEM] sending turn OFF cmd at 711M10S
  935. [DBG] [CEM] recvd turn OFF cmd response at 728M/#
  936. [DBG] RPC Switched pwr voter 4 set vote to 0MG8
  937. [DBG] motion hub initMG8
  938. [DBG] motion hub initMG8
  939. [DBG] motion hub initM+ I
  940. [DBG] Sending Mobility Crash Log to Nav.M6=
  941. [DBG] mh-initialize: finished, calls before done: 2Mk
  942. [DBG] Starting ApplicationMF5
  943. [DBG] pb initM1&
  944. [DBG] [safety] shutdownM/'
  945. [DBG] RPC Switched pwr voter 4 set vote to 1Mb
  946.  
  947.  
  948. [DBG] 8 Brushes InitializedMz
  949. [DBG] get_calibrationMG8
  950. [DBG] motion hub initM=lr
  951. [DBG] [ROBOT_ALLEY]: ---- RESET BUMPER ALLEY DETECTOR-----M&me
  952. [DBG] Refl: enable default reflexesM'f
  953. [DBG] Refl: Arbiter offM}
  954. [DBG] Batt infoMk6
  955. [DBG] pb robctrl(11, 0)M/Q8
  956. [DBG] RPC Switched pwr voter 1 set vote to 1M8`>
  957. [DBG] 16 BRUSH_UPDATE 0 clean setting 1, target 12000MRp7
  958. [DBG] 16 BRUSH_UPDATE 0 target 12000.000000 cmd duty 0.000000 ramp 15000.000000M/P
  959. [DBG] RPC Switched pwr voter 2 set vote to 1MG3
  960. [DBG] [DM] saw charger contacts rising 0 falling 1, keep emitters onM&mo
  961. [DBG] [yawmon]: start, yaw 0.000000MBb
  962. [DBG] [bin] removedM.
  963. [DBG] [HR:] haz triggeredM0m
  964. [DBG] [HR:] active: 19Mr
  965.  
  966. [DBG] pb post resetM$K
  967. [DBG] pb no upgradeM) ,
  968. [DBG] [SE]: !wheels_stopped - odom:2,2M;d
  969. [DBG] [SE]: !velocity_stopped - cmd_vel:0,0 meas_vel:9,9M62"
  970. [DBG] [SFTY] Emitter ctrl 1: Busy, will try again 0M)
  971. [DBG] [CEM] sending turn ON cmd at 111M6U
  972. [DBG] [CEM] ERROR send cliff emitter control 1 failMab
  973. [DBG] [power_board] onlineM/P
  974. [DBG] RPC Switched pwr voter 2 set vote to 1MG.
  975. [DBG] [DM] saw charger contacts rising 1 falling 0, keep emitters onM*
  976. [DBG] Charge cycle startM%/a
  977. [DBG] [BLC] Current batt level = 0M`
  978. [DBG] [bin] insertedMA4g
  979. [DBG] [bin] voter 2 votes to turn bin emitter 1 (1: on 0: off)M;
  980. [DBG] [safety] onlineM2TD
  981. [DBG] [SFTY] initial safety cliff cal requestedM18P
  982. [DBG] [SFTY] cliff cal read ctrl: send successM
  983. [DBG] [SFTY] init done!M*R
  984. [DBG] [SFTY] Emitter ctrl: send successM)E
  985. [DBG] [CEM] sending turn ON cmd at 211M0`|
  986. [DBG] [CEM] recvd turn ON cmd response at 228M< >
  987. [DBG] [CEM] cliff valid, enable cliff mask @411 delta 200MW
  988. [DBG] all cliffs enabledM0u
  989. [DBG] DOCK DETECT CHANGE: OFF_DOCK -> ON_DOCKMg)
  990. [DBG] chatter resetM-B
  991. [DBG] [DM] docked! perform docked actions!M#c
  992. [DBG] turning off cliff emittersM-<
  993. [DBG] [DM] voting to turn off bin emittersMABG] [bin] voter 1 votes to turn bin emitter 0 (1: on 0: off)M?*
  994. [DBG] turning off mouseM$lP
  995. [DBG] turning off bumper emittersM'c
  996. [DBG] [suction] Turn Off (ramp down)M2#N
  997. [DBG] [suction] update_power_control, setting 0M[
  998. [DBG] vacctrl(0)MS
  999. [DBG] all cliffs disabledM*R
  1000. [DBG] [SFTY] Emitter ctrl: send successM*w-
  1001. [DBG] [CEM] sending turn OFF cmd at 711M10S
  1002. [DBG] [CEM] recvd turn OFF cmd response at 728M/#
  1003. [DBG] RPC Switched pwr voter 4 set vote to 0MG8
  1004. [DBG] motion hub initMG8
  1005. [DBG] motion hub initMG8
  1006. [DBG] motion hub init
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