Script started on 2024-10-11 11:16:15+08:00 [] [INFO] [1728616581.024300, 39.385000]: Goal received, starting rosbag recording... [ INFO] [1728616581.216027626]: Subscribing to /amcl_pose [ INFO] [1728616581.217067452]: Subscribing to /imu [ INFO] [1728616581.218209602]: Subscribing to /obstacle_detection [ INFO] [1728616581.218993581]: Subscribing to /odom [ INFO] [1728616581.220243837]: Subscribing to /sys_info [ INFO] [1728616581.221516481]: Recording to '/home/cicv/work/pji_desktop/simulation/data/record_bag/test-1.bag'. [INFO] [1728616610.172074, 66.285000]: Stopping rosbag recording... [INFO] [1728616611.975764, 67.893000]: Goal received, starting rosbag recording... [ INFO] [1728616612.178647017]: Subscribing to /amcl_pose [ INFO] [1728616612.180807530]: Subscribing to /imu [ INFO] [1728616612.182218238]: Subscribing to /obstacle_detection [ INFO] [1728616612.184152883]: Subscribing to /odom [ INFO] [1728616612.185843282]: Subscribing to /sys_info [ INFO] [1728616612.186892322]: Recording to '/home/cicv/work/pji_desktop/simulation/data/record_bag/test-2.bag'. [INFO] [1728616637.283010, 90.592000]: Stopping rosbag recording... [INFO] [1728616637.417460, 90.685000]: Stopping rosbag recording... [INFO] [1728616637.582412, 90.827000]: All recordings completed. Exiting... [INFO] [1728616639.314068, 92.401000]: Recording limit reached. Exiting... [INFO] [1728616639.316357, 92.402000]: Shutting down ROS node and killing the process. [INFO] [1728616639.796093, 92.828000]: Shutting down ROS node and killing the process. Script done on 2024-10-11 11:17:21+08:00 [COMMAND_EXIT_CODE="0"] urrent.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.89975 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.89975 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.89975 current.linear.x: 0.5 current.linear.y: -0.00124739 Checking if goal is reached... Distance to goal: 5.74122 current.linear.x: 0.4 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.74122 current.linear.x: 0.3 current.linear.y: 6.02594e-05 Checking if goal is reached... Distance to goal: 5.55078 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.55078 current.linear.x: 0.3 current.linear.y: 0.000142122 Checking if goal is reached... Distance to goal: 5.32603 current.linear.x: 0.3 current.linear.y: 0.000170943 Checking if goal is reached... Distance to goal: 5.32603 current.linear.x: 0.3 current.linear.y: 0.000240446 Checking if goal is reached... Distance to goal: 5.10807 current.linear.x: 0.4 current.linear.y: 0.00174979 Checking if goal is reached... Distance to goal: 4.89888 current.linear.x: 0.4 current.linear.y: 0.000629316 Checking if goal is reached... Distance to goal: 4.69718 current.linear.x: 0.5 current.linear.y: 0 Checking if goal is reached... Distance to goal: 4.41036 current.linear.x: 0.7 current.linear.y: 0 Checking if goal is reached... Distance to goal: 4.15644 current.linear.x: 0.5 current.linear.y: -0.00103255 Checking if goal is reached... Distance to goal: 3.91931 current.linear.x: 0.4 current.linear.y: 0 Checking if goal is reached... Distance to goal: 3.70009 current.linear.x: 0.5 current.linear.y: 0 Checking if goal is reached... Distance to goal: 3.45375 current.linear.x: 0.444444 current.linear.y: 0 Checking if goal is reached... Distance to goal: 3.21538 current.linear.x: 0.444444 current.linear.y: 0 Checking if goal is reached... Distance to goal: 2.95304 current.linear.x: 0.5 current.linear.y: 0 Checking if goal is reached... Distance to goal: 2.95304 current.linear.x: 0.4 current.linear.y: 0 Checking if goal is reached... Distance to goal: 2.73925 current.linear.x: 0.3 current.linear.y: 0.000165471 Checking if goal is reached... Distance to goal: 2.51282 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 2.51282 current.linear.x: 0.2 current.linear.y: 0.000188372 Checking if goal is reached... Distance to goal: 2.51282 current.linear.x: 0.2 current.linear.y: 7.04614e-05 Checking if goal is reached... Distance to goal: 2.27595 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 2.27595 current.linear.x: 0.2 current.linear.y: 0.00091407 Checking if goal is reached... Distance to goal: 2.05103 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 2.05103 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.84199 current.linear.x: 0.177778 current.linear.y: 0.000249047 Checking if goal is reached... Distance to goal: 1.84199 current.linear.x: 0.2 current.linear.y: 0.000267907 Checking if goal is reached... Distance to goal: 1.63738 current.linear.x: 0.233333 current.linear.y: 0.000129806 Checking if goal is reached... Distance to goal: 1.63738 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.63738 current.linear.x: 0.133333 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.43501 current.linear.x: 0.177778 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.43501 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.43501 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.26372 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.26372 current.linear.x: 0.2 current.linear.y: 0.000256419 Checking if goal is reached... Distance to goal: 1.10692 current.linear.x: 0.2 current.linear.y: 0.00174867 Checking if goal is reached... Distance to goal: 1.10692 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.952484 current.linear.x: 0.177778 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.952484 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.952484 current.linear.x: 0.2 current.linear.y: 0.00109587 Checking if goal is reached... Distance to goal: 0.751948 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.751948 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.491513 current.linear.x: 0.266667 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.491513 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.491513 current.linear.x: 0.166667 current.linear.y: 0.00138019 Checking if goal is reached... Distance to goal: 0.224612 current.linear.x: 0.133333 current.linear.y: 0.000446061 Checking if goal is reached... Distance to goal: 0.224612 current.linear.x: 0.1 current.linear.y: 0.00181511 Checking if goal is reached... Distance to goal: 0.224612 current.linear.x: 0 current.linear.y: 0 [ INFO] [1728616610.859334173, 66.893000000]: Goal 1 reached, proceeding to the next goal after 2 seconds... End Point set to X: -8.2228 Y: 0.3353 Distance to goal: 5.75793 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.83065 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.83101 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.83101 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.82787 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.82364 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.82364 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.82926 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.82926 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.82926 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.75513 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.75513 current.linear.x: 0.266667 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.6322 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.6322 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.42462 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.42462 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.20623 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 4.98486 current.linear.x: 0.4 current.linear.y: 0 Checking if goal is reached... Distance to goal: 4.78848 current.linear.x: 0.4 current.linear.y: 0 Checking if goal is reached... Distance to goal: 4.78848 current.linear.x: 0.5 current.linear.y: -0.00101535 Checking if goal is reached... Distance to goal: 4.57387 current.linear.x: 0.7 current.linear.y: 0 Checking if goal is reached... Distance to goal: 4.02386 current.linear.x: 0.5 current.linear.y: 0 Checking if goal is reached... Distance to goal: 3.74852 current.linear.x: 0.4 current.linear.y: 0 Checking if goal is reached... Distance to goal: 3.74852 current.linear.x: 0.4 current.linear.y: 0 Checking if goal is reached... Distance to goal: 3.54375 current.linear.x: 0.4 current.linear.y: 0 Checking if goal is reached... Distance to goal: 3.34906 current.linear.x: 0.4 current.linear.y: 0 Checking if goal is reached... Distance to goal: 3.14366 current.linear.x: 0.5 current.linear.y: 0 Checking if goal is reached... Distance to goal: 2.88886 current.linear.x: 0.5 current.linear.y: 0 Checking if goal is reached... Distance to goal: 2.61388 current.linear.x: 0.4 current.linear.y: 0 Checking if goal is reached... Distance to goal: 2.40833 current.linear.x: 0.4 current.linear.y: 0 Checking if goal is reached... Distance to goal: 2.21847 current.linear.x: 0.4 current.linear.y: 0 Checking if goal is reached... Distance to goal: 2.02557 current.linear.x: 0.5 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.79434 current.linear.x: 0.7 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.5912 current.linear.x: 0.5 current.linear.y: -0.000908178 Checking if goal is reached... Distance to goal: 1.32263 current.linear.x: 0.4 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.32263 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.07991 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.850306 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.850306 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.850306 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.62768 current.linear.x: 0.2 current.linear.y: 0.000587972 Checking if goal is reached... Distance to goal: 0.62768 current.linear.x: 0.2 current.linear.y: 0.000486369 Checking if goal is reached... Distance to goal: 0.62768 current.linear.x: 0.2 current.linear.y: 0.000320695 Checking if goal is reached... Distance to goal: 0.346434 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.346434 current.linear.x: 0.133333 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.346434 current.linear.x: 0.0888889 current.linear.y: 0.000493234 Checking if goal is reached... Distance to goal: 0.346434 current.linear.x: 0.0888889 current.linear.y: 0.000365244 Checking if goal is reached... Distance to goal: 0.0807508 current.linear.x: 0 current.linear.y: 0 [ INFO] [1728616638.201756737, 91.400000000]: Goal 2 reached, proceeding to the next goal after 2 seconds... End Point set to X: -2.3728 Y: 0.2853 Distance to goal: 5.80416 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.81762 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.81928 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.82484 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.82484 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.81799 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.81799 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.81799 current.linear.x: 0 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.81799 current.linear.x: 0.4 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.81799 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.68547 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.68547 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.49241 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.49241 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.29178 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 5.0694 current.linear.x: 0.4 current.linear.y: 0 Checking if goal is reached... Distance to goal: 4.87633 current.linear.x: 0.5 current.linear.y: 0 Checking if goal is reached... Distance to goal: 4.87633 current.linear.x: 0.6 current.linear.y: 0 Checking if goal is reached... Distance to goal: 4.41021 current.linear.x: 0.7 current.linear.y: 0 Checking if goal is reached... Distance to goal: 4.19387 current.linear.x: 0.5 current.linear.y: 0.000859475 Checking if goal is reached... Distance to goal: 3.91224 current.linear.x: 0.5 current.linear.y: 0.00314842 Checking if goal is reached... Distance to goal: 3.65036 current.linear.x: 0.5 current.linear.y: 0 Checking if goal is reached... Distance to goal: 3.37485 current.linear.x: 0.6 current.linear.y: 2.18187e-05 Checking if goal is reached... Distance to goal: 3.15059 current.linear.x: 0.5 current.linear.y: 0 Checking if goal is reached... Distance to goal: 2.9389 current.linear.x: 0.5 current.linear.y: 0 Checking if goal is reached... Distance to goal: 2.68632 current.linear.x: 0.5 current.linear.y: 0 Checking if goal is reached... Distance to goal: 2.45377 current.linear.x: 0.5 current.linear.y: 0 Checking if goal is reached... Distance to goal: 2.21385 current.linear.x: 0.6 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.94299 current.linear.x: 0.7 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.72702 current.linear.x: 0.5 current.linear.y: -0.000687903 Checking if goal is reached... Distance to goal: 1.55254 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.35505 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.17794 current.linear.x: 0.3 current.linear.y: 0 Checking if goal is reached... Distance to goal: 1.17794 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.958262 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.958262 current.linear.x: 0.2 current.linear.y: 0 Checking if goal is reached... Distance to goal: 0.958262 current.lin