{ "metadata": { "started_wall_time": 1784709431.7177746, "duration_sec": 30.06486095800028, "output_path": "/home/sunrise/yiliao_ws/test_results/reach_fail_debug_20260722_163711.json" }, "topics": { "odom": "/odom", "goal_pose": "/goal_pose", "plan": "/plan", "cmd_vel": "/cmd_vel", "ackermann_cmd": "/ackermann_cmd", "planner_status": "/hybrid_astar_status", "tracker_status": "/pure_pursuit_status" }, "topic_endpoints": { "/odom": { "publisher_count": 2, "subscriber_count": 5, "publishers": [ { "node_name": "origincar_base", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" }, { "node_name": "origincar_base", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" } ], "subscribers": [ { "node_name": "ekf_filter_node", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" }, { "node_name": "ekf_filter_node", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" }, { "node_name": "ekf_filter_node", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" }, { "node_name": "ekf_filter_node", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" }, { "node_name": "goal_reach_debug_collector", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" } ] }, "/goal_pose": { "publisher_count": 0, "subscriber_count": 1, "publishers": [], "subscribers": [ { "node_name": "goal_reach_debug_collector", "node_namespace": "/", "topic_type": "geometry_msgs/msg/PoseStamped" } ] }, "/plan": { "publisher_count": 0, "subscriber_count": 1, "publishers": [], "subscribers": [ { "node_name": "goal_reach_debug_collector", "node_namespace": "/", "topic_type": "nav_msgs/msg/Path" } ] }, "/cmd_vel": { "publisher_count": 0, "subscriber_count": 3, "publishers": [], "subscribers": [ { "node_name": "origincar_base", "node_namespace": "/", "topic_type": "geometry_msgs/msg/Twist" }, { "node_name": "origincar_base", "node_namespace": "/", "topic_type": "geometry_msgs/msg/Twist" }, { "node_name": "goal_reach_debug_collector", "node_namespace": "/", "topic_type": "geometry_msgs/msg/Twist" } ] }, "/ackermann_cmd": { "publisher_count": 0, "subscriber_count": 1, "publishers": [], "subscribers": [ { "node_name": "goal_reach_debug_collector", "node_namespace": "/", "topic_type": "ackermann_msgs/msg/AckermannDriveStamped" } ] }, "/hybrid_astar_status": { "publisher_count": 0, "subscriber_count": 1, "publishers": [], "subscribers": [ { "node_name": "goal_reach_debug_collector", "node_namespace": "/", "topic_type": "std_msgs/msg/String" } ] }, "/pure_pursuit_status": { "publisher_count": 0, "subscriber_count": 1, "publishers": [], "subscribers": [ { "node_name": "goal_reach_debug_collector", "node_namespace": "/", "topic_type": "std_msgs/msg/String" } ] } }, "remote_parameters": { "planner": { "node": "/grid_astar_theta_planner", "service": "/grid_astar_theta_planner/get_parameters", "error": "parameter_service_unavailable" }, "tracker": { "node": "/topology_pure_pursuit", "service": "/topology_pure_pursuit/get_parameters", "error": "parameter_service_unavailable" } }, "latest": { "goal": null, "plan": { "frame_id": "map", "points": 0, "length": 0.0, "start": null, "end": null }, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.038238621 }, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "", "last_plan_ok": null, "plan_points": [] }, "metrics": { "sample_count": 266, "goal_count": 0, "plan_count": 0, "planner_status_count": 0, "tracker_status_count": 0, "min_distance_to_goal": null, "min_distance_to_plan_end": null, "final_distance_to_goal": null, "final_distance_to_plan_end": null, "final_plan_end_to_goal": null, "final_plan_end_yaw_to_goal": null, "max_abs_cmd_linear": 0.0, "max_abs_cmd_angular": 0.0, "max_abs_ackermann_speed": 0.0, "max_abs_steering_angle": 0.0, "tf_failures": 228, "saw_plan_ok": false, "saw_plan_failed": false, "saw_goal_reached": false, "saw_align_goal_yaw": false, "saw_no_recent_odom": false }, "diagnostic_hints": [ "没有采集到 /goal_pose；请先运行采集脚本，再发送目标。", "没有采集到 /plan；planner 可能未规划成功或采集脚本启动太晚。", "TF 查询失败 228 次；需要检查 map->odom 和 odom frame。" ], "events": { "goals": [], "plans": [], "planner_status": [], "tracker_status": [] }, "samples": [ { "elapsed_sec": 2.2272071790002883, "pose_map": null, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.3779578789999505, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.3870284840004388, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.002849296 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.57637944399994, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.684954874000141, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.7962629780004136, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.9085139179996986, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.0191590610002095, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.1304937479999353, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.2400559730003806, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.248267410000153, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.014259232 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.3729819620002672, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.482345811000414, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.488276283000232, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.004077122 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.6711048520000986, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.782806330999847, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.893941516999803, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.002687946999686, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.113686132999646, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.224446692999663, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.337523508999766, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.447464900000341, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.561446300999705, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.683477180000409, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.703369769000346, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.019310356 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.878800901999966, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.989310044999911, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.101279731999966, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.210711663999973, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.328334240000004, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.336654259999705, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.052467972 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.473529840999618, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.582797478999964, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.692876578999858, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.699051343999599, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.014846586 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.873123514000326, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.983468739000273, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.0924623359996986, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.202837476999775, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.315957875000095, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.4292491480000535, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.539440872000341, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.651345975000368, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.6618558339996525, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.027767857 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.77380693699979, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.779942660000415, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.04461773 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.975205005999669, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.08485610400021, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.194162325999969, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.304621174999738, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.416289527000117, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.5296152160008205, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.644639160000224, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.758387224999751, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.871619413999724, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.983772018000309, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.990410116999556, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.0562592470000003 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 8.172437970999454, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 8.286077786999158, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 8.39997726799993, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 8.512267162999706, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 8.627031522000834, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 8.740207209999426, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 8.853547607999644, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 8.963139745999797, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 8.972514684999624, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.038430361 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 9.173047374999442, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 9.283418139999412, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 9.395937242999935, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 9.509076263999305, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 9.621089074000338, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 9.733238926000922, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 9.845271235999462, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 9.95763813099984, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 10.069490316000156, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 10.178774161000547, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 10.186518471000454, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.0024938050000003 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 10.372588874999565, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 10.485183478000181, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 10.59509953199995, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 10.70727830100077, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 10.819407151999258, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 10.931771379000566, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 11.048397824999483, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 11.161736595999173, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 11.274603407999166, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 11.384079211000426, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 11.393170191000536, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.0591298460000003 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 11.571951158999582, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 11.685019388, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 11.799612453000009, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 11.911687469999379, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 12.024016904999371, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 12.135286628999893, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 12.247932606000177, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 12.361027959999774, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 12.370381357000952, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.0364417830000003 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 12.5746799690005, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 12.687410570999418, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 12.797084998999708, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 12.907344261000617, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 13.019959821000157, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 13.13195142100085, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 13.243783937999979, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 13.35512111999924, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 13.464426963000733, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 13.5783199840007, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 13.690424250000433, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 13.802025140999831, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 13.811030995000692, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.026993038 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 13.976278137999543, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 14.085040313999343, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 14.196929162999368, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 14.307040550000238, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 14.418800064999232, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 14.530351497000083, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 14.538339640999766, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.004360019 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 14.673604544999762, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 14.785125435000737, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 14.897177783999723, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 14.904938760999357, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.021033597 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 15.07109003000005, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 15.184310507000191, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 15.330905979999443, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 15.467288095000185, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 15.587679255000694, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 15.699634020000303, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 15.710036295000464, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.025996518 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 15.875572311999349, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 15.984799236999606, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 16.098897507999936, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 16.211293024000042, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 16.32350462300019, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 16.43544288799967, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 16.444583451000653, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.0106814330000002 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 16.574837591999312, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 16.68421443400075, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 16.797397827000168, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 16.806457014999978, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.022415 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 16.9729144920002, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 17.082559500999196, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 17.19248971900015, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 17.305712403000143, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 17.417590126000505, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 17.53112235200024, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 17.646567540999968, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 17.656759606999913, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.022829576 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 17.776478264000616, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 17.785864244999175, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.0018499000000003 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 17.974394815000778, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 18.084651408000354, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 18.194669209000494, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 18.31137015099921, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 18.424516793000294, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 18.536591349000446, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 18.648734570999295, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 18.758365538000362, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 18.86766062800052, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 18.980719270000918, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 18.989364581999325, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.005418939 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 19.171756678000747, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 19.28481990200089, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 19.393835867000234, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 19.506697216000248, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 19.618662603999837, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 19.730731908999587, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 19.84288875600032, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 19.95533385300041, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 20.06402402599997, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 20.178010710000308, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 20.187879400000384, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.053956959 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 20.372053916000368, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 20.48119021400089, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 20.594590062999487, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 20.707039285000064, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 20.817887253000663, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 20.930137766999906, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 21.04143556999952, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 21.050230257000294, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.0163565290000003 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 21.174469797999336, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 21.28494318199955, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 21.29380524500084, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.009947886 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 21.475146127999324, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 21.5888000190007, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 21.697140398000556, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 21.809130159999768, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 21.922734633999426, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 21.93569791399932, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.001636028 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 22.071528940999997, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 22.185310123999443, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 22.298293263000232, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 22.411224777000825, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 22.42036704900056, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.0356521030000003 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 22.57174611099981, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 22.684989792000124, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 22.79708951199973, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 22.907764354000392, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 23.019589949000874, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 23.028160260999357, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.0442837010000003 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 23.17333884999971, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 23.282803522000904, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 23.396938579999187, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 23.510190135999437, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 23.51785361200018, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.0338877550000003 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 23.677763235000384, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 23.78638240500004, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 23.898462582999855, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 24.010701844999858, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 24.12296806499944, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 24.234393867000108, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 24.243199345000903, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.009350816 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 24.37220535400047, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 24.484691282999847, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 24.59536233200015, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 24.603903434999665, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.0200432960000003 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 24.77527016699969, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 24.88489938100065, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 24.997375975999603, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 25.114365207000446, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 25.226594968000427, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 25.338588437, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 25.45065527999941, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 25.560475743999632, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 25.56897263800056, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.035120989 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 25.77388982299999, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 25.88656200100013, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 25.996985757999937, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 26.10707009699945, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 26.223728326000128, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 26.337070048000896, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 26.451710355000614, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 26.56636874600008, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 26.676210251000157, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 26.787705758999437, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 26.900992812999903, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 27.01346403199932, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 27.02277401200081, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.0388866930000002 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 27.174526364000485, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 27.28647333200024, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 27.396263586000714, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 27.513076731000183, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 27.625912700999834, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 27.63572347400077, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.0518046340000002 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 27.776641508000466, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 27.885806094000145, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 27.998850396999842, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 28.007600376000482, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.0238935650000003 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 28.174935471000936, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 28.28591418600081, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 28.397862694999276, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 28.510244371000226, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 28.623513132999506, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 28.739075358000264, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 28.850684656999874, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 28.856677420999404, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.0228264300000003 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 28.97593803000018, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 29.085011573000884, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 29.093179883999255, "pose_map": { "available": false, "reason": "odom_too_old", "age_sec": 2.059310179 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 29.275868889000776, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 29.38811456499934, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 29.497413774999586, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 29.61088207800094, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 29.723328545000186, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 29.835276302999773, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 29.947521894999227, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 30.06413466400045, "pose_map": { "available": false, "reason": "tf_unavailable", "source_frame": "odom" }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": null, "planner_status": "", "tracker_status": "" } ] }