{ "metadata": { "started_wall_time": 1784723060.4802725, "duration_sec": 30.058978473000025, "output_path": "/home/sunrise/yiliao_ws/test_results/goal_reach_debug_20260722_202420.json" }, "topics": { "odom": "/odom", "goal_pose": "/goal_pose", "plan": "/plan", "cmd_vel": "/planner_cmd_vel", "ackermann_cmd": "/ackermann_cmd", "planner_status": "/hybrid_astar_status", "tracker_status": "/pure_pursuit_status" }, "topic_endpoints": { "/odom": { "publisher_count": 1, "subscriber_count": 4, "publishers": [ { "node_name": "origincar_base", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" } ], "subscribers": [ { "node_name": "planner_odom_map_tf", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" }, { "node_name": "grid_astar_theta_planner", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" }, { "node_name": "topology_pure_pursuit", "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": 2, "publishers": [], "subscribers": [ { "node_name": "grid_astar_theta_planner", "node_namespace": "/", "topic_type": "geometry_msgs/msg/PoseStamped" }, { "node_name": "goal_reach_debug_collector", "node_namespace": "/", "topic_type": "geometry_msgs/msg/PoseStamped" } ] }, "/plan": { "publisher_count": 1, "subscriber_count": 2, "publishers": [ { "node_name": "grid_astar_theta_planner", "node_namespace": "/", "topic_type": "nav_msgs/msg/Path" } ], "subscribers": [ { "node_name": "topology_pure_pursuit", "node_namespace": "/", "topic_type": "nav_msgs/msg/Path" }, { "node_name": "goal_reach_debug_collector", "node_namespace": "/", "topic_type": "nav_msgs/msg/Path" } ] }, "/planner_cmd_vel": { "publisher_count": 1, "subscriber_count": 2, "publishers": [ { "node_name": "topology_pure_pursuit", "node_namespace": "/", "topic_type": "geometry_msgs/msg/Twist" } ], "subscribers": [ { "node_name": "goal_reach_debug_collector", "node_namespace": "/", "topic_type": "geometry_msgs/msg/Twist" }, { "node_name": "planner_ackermann_cmd_bridge", "node_namespace": "/", "topic_type": "geometry_msgs/msg/Twist" } ] }, "/ackermann_cmd": { "publisher_count": 1, "subscriber_count": 2, "publishers": [ { "node_name": "planner_ackermann_cmd_bridge", "node_namespace": "/", "topic_type": "ackermann_msgs/msg/AckermannDriveStamped" } ], "subscribers": [ { "node_name": "goal_reach_debug_collector", "node_namespace": "/", "topic_type": "ackermann_msgs/msg/AckermannDriveStamped" }, { "node_name": "origincar_base", "node_namespace": "/", "topic_type": "ackermann_msgs/msg/AckermannDriveStamped" } ] }, "/hybrid_astar_status": { "publisher_count": 1, "subscriber_count": 1, "publishers": [ { "node_name": "grid_astar_theta_planner", "node_namespace": "/", "topic_type": "std_msgs/msg/String" } ], "subscribers": [ { "node_name": "goal_reach_debug_collector", "node_namespace": "/", "topic_type": "std_msgs/msg/String" } ] }, "/pure_pursuit_status": { "publisher_count": 1, "subscriber_count": 1, "publishers": [ { "node_name": "topology_pure_pursuit", "node_namespace": "/", "topic_type": "std_msgs/msg/String" } ], "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", "values": {} }, "tracker": { "node": "/topology_pure_pursuit", "service": "/topology_pure_pursuit/get_parameters", "values": { "goal_tolerance": 0.06, "goal_yaw_tolerance": 0.174533, "align_goal_yaw": false, "publish_cmd_vel": true, "cmd_vel_topic": "/planner_cmd_vel", "lookahead_distance": 0.4, "linear_speed": 0.7, "min_linear_speed": 0.08, "reverse_speed": 0.28, "slowdown_distance": 0.35, "curvature_slowdown_gain": 0.03, "min_curvature_speed_ratio": 0.8, "min_goal_slowdown_ratio": 0.35, "min_turning_radius": 0.25, "max_angular_speed": 3.0 } } }, "latest": { "goal": null, "plan": { "frame_id": "map", "points": 121, "length": 3.5995680777533337, "start": { "x": 0.0008668303489685059, "y": 0.0, "yaw": -2.471993639119318e-06 }, "end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "reverse_segment_fraction": 0.0 }, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3958346247673035, "y": 2.506111904978752, "yaw": 1.7182797193527222, "odom_age_sec": 0.041254036, "odom_linear_x": 0.057999998331069946, "odom_angular_z": 0.03450464457273483 }, "cmd_vel": { "linear_x": 0.242403481345084, "angular_z": -0.969613925380336 }, "ackermann_cmd": { "speed": 0.24240347743034363, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)", "last_plan_ok": { "points": 121, "iterations": 43, "planning_ms": 56.888, "goal_error": 0.066, "yaw_error": 0.96 }, "plan_points": [ { "x": 0.0008668303489685059, "y": 0.0, "yaw": -2.471993639119318e-06 }, { "x": 0.03079488661535851, "y": 0.001797767054574212, "yaw": 0.11999752800636088 }, { "x": 0.060292504668656544, "y": 0.007165359387125592, "yaw": 0.2399975280063609 }, { "x": 0.08893542828313294, "y": 0.016025576375551354, "yaw": 0.3599975280063608 }, { "x": 0.11631169407094452, "y": 0.02825098392629649, "yaw": 0.47999752800636086 }, { "x": 0.14202755663960828, "y": 0.04366574732429637, "yaw": 0.5999975280063609 }, { "x": 0.16571315172499784, "y": 0.06204816021590798, "yaw": 0.719997528006361 }, { "x": 0.18702781584855938, "y": 0.08313383335115498, "yaw": 0.839997528006361 }, { "x": 0.20566498598756275, "y": 0.10661949722247355, "yaw": 0.9599975280063608 }, { "x": 0.22287064632077427, "y": 0.1311952017392957, "yaw": 0.9599975280063608 }, { "x": 0.24007630665398577, "y": 0.1557709062561178, "yaw": 0.9599975280063608 }, { "x": 0.2572819669871973, "y": 0.18034661077293995, "yaw": 0.9599975280063608 }, { "x": 0.2744876273204088, "y": 0.20492231528976207, "yaw": 0.9599975280063608 }, { "x": 0.29169328765362035, "y": 0.2294980198065842, "yaw": 0.9599975280063608 }, { "x": 0.3088989479868319, "y": 0.25407372432340636, "yaw": 0.9599975280063608 }, { "x": 0.32610460832004334, "y": 0.2786494288402285, "yaw": 0.9599975280063608 }, { "x": 0.34331026865325487, "y": 0.3032251333570506, "yaw": 0.9599975280063608 }, { "x": 0.3605159289864664, "y": 0.3278008378738727, "yaw": 0.9599975280063608 }, { "x": 0.3777215893196779, "y": 0.3523765423906949, "yaw": 0.9599975280063608 }, { "x": 0.3949272496528894, "y": 0.376952246907517, "yaw": 0.9599975280063608 }, { "x": 0.4121329099861009, "y": 0.4015279514243391, "yaw": 0.9599975280063608 }, { "x": 0.4307700801251043, "y": 0.4250136152956577, "yaw": 0.839997528006361 }, { "x": 0.45208474424866585, "y": 0.4460992884309047, "yaw": 0.719997528006361 }, { "x": 0.4757703393340554, "y": 0.4644817013225163, "yaw": 0.5999975280063609 }, { "x": 0.5014862019027191, "y": 0.47989646472051617, "yaw": 0.47999752800636086 }, { "x": 0.5280960838314719, "y": 0.4937497742073441, "yaw": 0.47999752800636086 }, { "x": 0.5547059657602246, "y": 0.5076030836941721, "yaw": 0.47999752800636086 }, { "x": 0.5813158476889774, "y": 0.521456393181, "yaw": 0.47999752800636086 }, { "x": 0.6079257296177302, "y": 0.535309702667828, "yaw": 0.47999752800636086 }, { "x": 0.6336415921863939, "y": 0.5507244660658278, "yaw": 0.5999975280063609 }, { "x": 0.6573271872717835, "y": 0.5691068789574394, "yaw": 0.719997528006361 }, { "x": 0.678641851395345, "y": 0.5901925520926865, "yaw": 0.839997528006361 }, { "x": 0.6972790215343484, "y": 0.6136782159640051, "yaw": 0.9599975280063608 }, { "x": 0.7144846818675599, "y": 0.6382539204808272, "yaw": 0.9599975280063608 }, { "x": 0.7316903422007714, "y": 0.6628296249976493, "yaw": 0.9599975280063608 }, { "x": 0.7488960025339829, "y": 0.6874053295144715, "yaw": 0.9599975280063608 }, { "x": 0.7661016628671945, "y": 0.7119810340312936, "yaw": 0.9599975280063608 }, { "x": 0.783307323200406, "y": 0.7365567385481158, "yaw": 0.9599975280063608 }, { "x": 0.8005129835336176, "y": 0.7611324430649379, "yaw": 0.9599975280063608 }, { "x": 0.817718643866829, "y": 0.78570814758176, "yaw": 0.9599975280063608 }, { "x": 0.8349243042000406, "y": 0.8102838520985822, "yaw": 0.9599975280063608 }, { "x": 0.8521299645332521, "y": 0.8348595566154043, "yaw": 0.9599975280063608 }, { "x": 0.8693356248664637, "y": 0.8594352611322265, "yaw": 0.9599975280063608 }, { "x": 0.8865412851996751, "y": 0.8840109656490487, "yaw": 0.9599975280063608 }, { "x": 0.9037469455328867, "y": 0.9085866701658708, "yaw": 0.9599975280063608 }, { "x": 0.9209526058660982, "y": 0.9331623746826929, "yaw": 0.9599975280063608 }, { "x": 0.9381582661993098, "y": 0.957738079199515, "yaw": 0.9599975280063608 }, { "x": 0.9553639265325212, "y": 0.9823137837163372, "yaw": 0.9599975280063608 }, { "x": 0.9725695868657328, "y": 1.0068894882331594, "yaw": 0.9599975280063608 }, { "x": 0.9897752471989443, "y": 1.0314651927499816, "yaw": 0.9599975280063608 }, { "x": 1.0069809075321559, "y": 1.0560408972668036, "yaw": 0.9599975280063608 }, { "x": 1.0241865678653674, "y": 1.0806166017836258, "yaw": 0.9599975280063608 }, { "x": 1.0413922281985788, "y": 1.1051923063004478, "yaw": 0.9599975280063608 }, { "x": 1.0585978885317904, "y": 1.12976801081727, "yaw": 0.9599975280063608 }, { "x": 1.0758035488650017, "y": 1.154343715334092, "yaw": 0.9599975280063608 }, { "x": 1.0930092091982133, "y": 1.1789194198509143, "yaw": 0.9599975280063608 }, { "x": 1.110214869531425, "y": 1.2034951243677363, "yaw": 0.9599975280063608 }, { "x": 1.1274205298646365, "y": 1.2280708288845585, "yaw": 0.9599975280063608 }, { "x": 1.1446261901978478, "y": 1.2526465334013805, "yaw": 0.9599975280063608 }, { "x": 1.1618318505310594, "y": 1.2772222379182028, "yaw": 0.9599975280063608 }, { "x": 1.179037510864271, "y": 1.3017979424350248, "yaw": 0.9599975280063608 }, { "x": 1.1962431711974826, "y": 1.326373646951847, "yaw": 0.9599975280063608 }, { "x": 1.213448831530694, "y": 1.350949351468669, "yaw": 0.9599975280063608 }, { "x": 1.2306544918639055, "y": 1.3755250559854912, "yaw": 0.9599975280063608 }, { "x": 1.247860152197117, "y": 1.4001007605023132, "yaw": 0.9599975280063608 }, { "x": 1.2650658125303287, "y": 1.4246764650191355, "yaw": 0.9599975280063608 }, { "x": 1.28227147286354, "y": 1.4492521695359575, "yaw": 0.9599975280063608 }, { "x": 1.2994771331967516, "y": 1.4738278740527797, "yaw": 0.9599975280063608 }, { "x": 1.3166827935299632, "y": 1.4984035785696017, "yaw": 0.9599975280063608 }, { "x": 1.3353199636689665, "y": 1.5218892424409203, "yaw": 0.839997528006361 }, { "x": 1.356634627792528, "y": 1.5429749155761674, "yaw": 0.719997528006361 }, { "x": 1.3803202228779177, "y": 1.5613573284677789, "yaw": 0.5999975280063609 }, { "x": 1.4060360854465814, "y": 1.5767720918657788, "yaw": 0.47999752800636086 }, { "x": 1.4326459673753342, "y": 1.5906254013526069, "yaw": 0.47999752800636086 }, { "x": 1.459255849304087, "y": 1.6044787108394347, "yaw": 0.47999752800636086 }, { "x": 1.4858657312328396, "y": 1.6183320203262626, "yaw": 0.47999752800636086 }, { "x": 1.5124756131615924, "y": 1.6321853298130906, "yaw": 0.47999752800636086 }, { "x": 1.5390854950903452, "y": 1.6460386392999187, "yaw": 0.47999752800636086 }, { "x": 1.565695377019098, "y": 1.6598919487867465, "yaw": 0.47999752800636086 }, { "x": 1.5923052589478508, "y": 1.6737452582735743, "yaw": 0.47999752800636086 }, { "x": 1.6189151408766034, "y": 1.6875985677604024, "yaw": 0.47999752800636086 }, { "x": 1.6455250228053562, "y": 1.7014518772472305, "yaw": 0.47999752800636086 }, { "x": 1.672134904734109, "y": 1.7153051867340583, "yaw": 0.47999752800636086 }, { "x": 1.6987447866628616, "y": 1.7291584962208861, "yaw": 0.47999752800636086 }, { "x": 1.7253546685916143, "y": 1.7430118057077142, "yaw": 0.47999752800636086 }, { "x": 1.7519645505203671, "y": 1.7568651151945422, "yaw": 0.47999752800636086 }, { "x": 1.77857443244912, "y": 1.77071842468137, "yaw": 0.47999752800636086 }, { "x": 1.8051843143778727, "y": 1.784571734168198, "yaw": 0.47999752800636086 }, { "x": 1.8317941963066253, "y": 1.798425043655026, "yaw": 0.47999752800636086 }, { "x": 1.8584040782353781, "y": 1.812278353141854, "yaw": 0.47999752800636086 }, { "x": 1.885013960164131, "y": 1.8261316626286819, "yaw": 0.47999752800636086 }, { "x": 1.9116238420928835, "y": 1.8399849721155097, "yaw": 0.47999752800636086 }, { "x": 1.9382337240216363, "y": 1.8538382816023378, "yaw": 0.47999752800636086 }, { "x": 1.964843605950389, "y": 1.8676915910891658, "yaw": 0.47999752800636086 }, { "x": 1.991453487879142, "y": 1.8815449005759937, "yaw": 0.47999752800636086 }, { "x": 2.0180633698078947, "y": 1.8953982100628215, "yaw": 0.47999752800636086 }, { "x": 2.0446732517366475, "y": 1.9092515195496496, "yaw": 0.47999752800636086 }, { "x": 2.0712831336654003, "y": 1.9231048290364776, "yaw": 0.47999752800636086 }, { "x": 2.097893015594153, "y": 1.9369581385233055, "yaw": 0.47999752800636086 }, { "x": 2.124502897522906, "y": 1.9508114480101333, "yaw": 0.47999752800636086 }, { "x": 2.1511127794516587, "y": 1.9646647574969613, "yaw": 0.47999752800636086 }, { "x": 2.1768286420203227, "y": 1.9800795208949613, "yaw": 0.5999975280063609 }, { "x": 2.200514237105712, "y": 1.9984619337865728, "yaw": 0.719997528006361 }, { "x": 2.2218289012292733, "y": 2.0195476069218197, "yaw": 0.839997528006361 }, { "x": 2.240466071368277, "y": 2.0430332707931385, "yaw": 0.9599975280063608 }, { "x": 2.2576717317014885, "y": 2.0676089753099607, "yaw": 0.9599975280063608 }, { "x": 2.2748773920347003, "y": 2.092184679826783, "yaw": 0.9599975280063608 }, { "x": 2.2920830523679117, "y": 2.1167603843436047, "yaw": 0.9599975280063608 }, { "x": 2.309288712701123, "y": 2.141336088860427, "yaw": 0.9599975280063608 }, { "x": 2.3264943730343344, "y": 2.165911793377249, "yaw": 0.9599975280063608 }, { "x": 2.343700033367546, "y": 2.1904874978940714, "yaw": 0.9599975280063608 }, { "x": 2.3609056937007575, "y": 2.215063202410893, "yaw": 0.9599975280063608 }, { "x": 2.378111354033969, "y": 2.2396389069277154, "yaw": 0.9599975280063608 }, { "x": 2.3953170143671803, "y": 2.2642146114445376, "yaw": 0.9599975280063608 }, { "x": 2.412522674700392, "y": 2.28879031596136, "yaw": 0.9599975280063608 }, { "x": 2.4297283350336034, "y": 2.3133660204781816, "yaw": 0.9599975280063608 }, { "x": 2.4469339953668148, "y": 2.337941724995004, "yaw": 0.9599975280063608 }, { "x": 2.464139655700026, "y": 2.362517429511826, "yaw": 0.9599975280063608 }, { "x": 2.481345316033238, "y": 2.3870931340286483, "yaw": 0.9599975280063608 }, { "x": 2.4985509763664493, "y": 2.41166883854547, "yaw": 0.9599975280063608 }, { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 } ] }, "metrics": { "sample_count": 300, "goal_count": 0, "plan_count": 3, "planner_status_count": 9, "tracker_status_count": 3, "min_distance_to_goal": null, "min_distance_to_plan_end": 0.12758898442616665, "final_distance_to_goal": null, "final_distance_to_plan_end": 0.13879026337272365, "final_plan_end_to_goal": null, "final_plan_end_yaw_to_goal": null, "max_abs_cmd_linear": 0.6994810660961994, "max_abs_cmd_angular": 2.464, "max_abs_ackermann_speed": 0.6994810700416565, "max_abs_steering_angle": 0.5195767879486084, "tf_failures": 0, "saw_plan_ok": true, "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。", "tracker 的 min_linear_speed 数值大于 goal_tolerance;接近终点时可能仍以较高速度越过目标。" ], "events": { "goals": [], "plans": [ { "frame_id": "map", "points": 121, "length": 3.5995680777533363, "start": { "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0 }, "end": { "x": 2.5150759493367514, "y": 2.4362507598464536, "yaw": 0.96 }, "reverse_segment_fraction": 0.0, "elapsed_sec": 5.436558864001199 }, { "frame_id": "map", "points": 121, "length": 3.5995680777533363, "start": { "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0 }, "end": { "x": 2.5150759493367514, "y": 2.4362507598464536, "yaw": 0.96 }, "reverse_segment_fraction": 0.0, "elapsed_sec": 5.579407388000618 }, { "frame_id": "map", "points": 121, "length": 3.5995680777533337, "start": { "x": 0.0008668303489685059, "y": 0.0, "yaw": -2.471993639119318e-06 }, "end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "reverse_segment_fraction": 0.0, "elapsed_sec": 5.727858651000133 } ], "planner_status": [ { "elapsed_sec": 5.3221765700000105, "data": "goal_received map=(2.500,2.500,0.000)" }, { "elapsed_sec": 5.324326440000732, "data": "plan_start start=(0.000,0.000,0.000) goal=(2.500,2.500,0.000) obstacles=0 resolution=0.100 yaw_bins=36 timeout_ms=1500.000 grid_heuristic=true heuristic_weight=1.350 yaw_heuristic_weight=0.000 goal_yaw_tolerance=0.175" }, { "elapsed_sec": 5.437538529000449, "data": "plan_ok hybrid_astar points=121 iterations=45 obstacles=0 planning_ms=71.628 goal_error=0.066 yaw_error=0.960", "parsed_plan_ok": { "points": 121, "iterations": 45, "planning_ms": 71.628, "goal_error": 0.066, "yaw_error": 0.96 } }, { "elapsed_sec": 5.473495158999867, "data": "goal_received map=(2.500,2.500,0.000)" }, { "elapsed_sec": 5.475903196000218, "data": "plan_start start=(0.000,0.000,0.000) goal=(2.500,2.500,0.000) obstacles=0 resolution=0.100 yaw_bins=36 timeout_ms=1500.000 grid_heuristic=true heuristic_weight=1.350 yaw_heuristic_weight=0.000 goal_yaw_tolerance=0.175" }, { "elapsed_sec": 5.580435928000952, "data": "plan_ok hybrid_astar points=121 iterations=45 obstacles=0 planning_ms=62.015 goal_error=0.066 yaw_error=0.960", "parsed_plan_ok": { "points": 121, "iterations": 45, "planning_ms": 62.015, "goal_error": 0.066, "yaw_error": 0.96 } }, { "elapsed_sec": 5.624965623001117, "data": "goal_received map=(2.500,2.500,0.000)" }, { "elapsed_sec": 5.627352660001634, "data": "plan_start start=(0.001,0.000,-0.000) goal=(2.500,2.500,0.000) obstacles=0 resolution=0.100 yaw_bins=36 timeout_ms=1500.000 grid_heuristic=true heuristic_weight=1.350 yaw_heuristic_weight=0.000 goal_yaw_tolerance=0.175" }, { "elapsed_sec": 5.728937814999881, "data": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "parsed_plan_ok": { "points": 121, "iterations": 43, "planning_ms": 56.888, "goal_error": 0.066, "yaw_error": 0.96 } } ], "tracker_status": [ { "elapsed_sec": 5.442361102001087, "data": "external_plan_ok points=121 length=3.600 goal=(2.515,2.436,0.960)" }, { "elapsed_sec": 5.587261788001342, "data": "external_plan_ok points=121 length=3.600 goal=(2.515,2.436,0.960)" }, { "elapsed_sec": 5.7343625530011195, "data": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" } ] }, "samples": [ { "elapsed_sec": 0.2045806830010406, "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": 0.2582582330014702, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.029117854000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 0.35756993500035605, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028299731, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 0.4578452180012391, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028546313, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 0.5578280429999722, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028538772, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 0.6578360769999563, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028498647000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 0.7576833610000904, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028382606, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 0.8580006020001747, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028638855, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 0.958935967000798, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028959437, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.05906991700067, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.029078812000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.1577966620006919, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028552980000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.257983237001099, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028617605, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.3575609380004607, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028370106000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.4591423850015417, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.12922672100000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.5577502140004071, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028399855, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.6577362470015942, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028429438, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.7577636140013055, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028487314000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.8578048140007013, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028564230000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.9576935980003327, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028366980000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.0579264650004916, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028567980000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.157790623999972, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028469147, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.2578199910003605, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028602646000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.357943024000633, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028632022000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.4575087670000357, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028360106000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.557883383000444, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028646647, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.657807709001645, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028572563000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.757809784001438, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028588438, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.857884525999907, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028630272000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.9577482680015237, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028529772000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.0578425520016026, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028580438000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.157805501999974, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028554521000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.2579017860007298, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028664771000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.357715570000437, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028488647000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.4579516030007653, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028682646000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.5581298860015522, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028581813, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.65776587900109, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028585647000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.7578443710008287, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028585480000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.8577105710010073, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028527605, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.957784480000555, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028667729000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.057831347001411, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.02871198, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.157778214001155, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028616522000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.257926206000775, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028727771000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.35812736400112, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028772063, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.45831427200028, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028803563, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.558128389000558, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028765521000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.658506256000692, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028919229, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.758095832001345, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.02874198, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.859148322000692, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.029147187, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.95788123300008, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028484980000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.057914808001442, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028659313000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.157883092000702, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028696021000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.257824667000023, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.02851773, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.3582457000011345, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.027814773, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "plan_start start=(0.000,0.000,0.000) goal=(2.500,2.500,0.000) obstacles=0 resolution=0.100 yaw_bins=36 timeout_ms=1500.000 grid_heuristic=true heuristic_weight=1.350 yaw_heuristic_weight=0.000 goal_yaw_tolerance=0.175", "tracker_status": "" }, { "elapsed_sec": 5.457553735001056, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028438439000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5150759493367514, "y": 2.4362507598464536, "yaw": 0.96 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.5014223126734407, "yaw_error_to_plan_end": 0.96, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6361957075042455, "angular_z": 1.9329531907687783 }, "ackermann_cmd": { "speed": 0.636195719242096, "steering_angle": 0.4098701477050781 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=45 obstacles=0 planning_ms=71.628 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.515,2.436,0.960)" }, { "elapsed_sec": 5.583944337000503, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00019216537475585938, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.054602965, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5150759493367514, "y": 2.4362507598464536, "yaw": 0.96 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.5014223126734407, "yaw_error_to_plan_end": 0.96, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6361957075042455, "angular_z": 1.9329531907687783 }, "ackermann_cmd": { "speed": 0.636195719242096, "steering_angle": 0.4098701477050781 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=45 obstacles=0 planning_ms=62.015 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.515,2.436,0.960)" }, { "elapsed_sec": 5.657667511000909, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.00316619873046875, "y": 0.0, "yaw": 6.6946231527253985e-06, "odom_age_sec": 0.028409522000000003, "odom_linear_x": 0.04500000178813934, "odom_angular_z": 0.0001847798703238368 }, "goal": null, "plan_end": { "x": 2.5150759493367514, "y": 2.4362507598464536, "yaw": 0.96 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.499286835920048, "yaw_error_to_plan_end": 0.9599933053768472, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6359036453937889, "angular_z": 1.940909788121077 }, "ackermann_cmd": { "speed": 0.6359036564826965, "steering_angle": 0.4115419387817383 }, "planner_status": "plan_start start=(0.001,0.000,-0.000) goal=(2.500,2.500,0.000) obstacles=0 resolution=0.100 yaw_bins=36 timeout_ms=1500.000 grid_heuristic=true heuristic_weight=1.350 yaw_heuristic_weight=0.000 goal_yaw_tolerance=0.175", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.515,2.436,0.960)" }, { "elapsed_sec": 5.757855169000322, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.016282618045806885, "y": 2.4586915969848633e-06, "yaw": 0.0012106623034924269, "odom_age_sec": 0.028551397000000003, "odom_linear_x": 0.15700000524520874, "odom_angular_z": 0.018186144530773163 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.490364717846047, "yaw_error_to_plan_end": 0.9587868657028684, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6332934288219569, "angular_z": 2.0116587231570877 }, "ackermann_cmd": { "speed": 0.6332934498786926, "steering_angle": 0.42637428641319275 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 5.858270202001222, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.039534926414489746, "y": 4.088878631591797e-05, "yaw": 0.0034855883568525314, "odom_age_sec": 0.028865854000000003, "odom_linear_x": 0.24799999594688416, "odom_angular_z": 0.027863916009664536 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.47372454342529, "yaw_error_to_plan_end": 0.9565119396495083, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6279986081702756, "angular_z": 2.1531797073995023 }, "ackermann_cmd": { "speed": 0.6279985904693604, "steering_angle": 0.455853670835495 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 5.958238193999932, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.07500123977661133, "y": 0.00020110607147216797, "yaw": 0.00862658582627773, "odom_age_sec": 0.02875573, "odom_linear_x": 0.3659999966621399, "odom_angular_z": 0.05999554321169853 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.448419135562706, "yaw_error_to_plan_end": 0.9513709421800831, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6239316841878692, "angular_z": 2.2600682094284523 }, "ackermann_cmd": { "speed": 0.6239317059516907, "steering_angle": 0.4779350161552429 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 6.058046395000929, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.11713391542434692, "y": 0.0006334930658340454, "yaw": 0.01603860594332218, "odom_age_sec": 0.028637063, "odom_linear_x": 0.43799999356269836, "odom_angular_z": 0.07964138686656952 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.4184195391851833, "yaw_error_to_plan_end": 0.9439589220630387, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6192502651494479, "angular_z": 2.3811568912834273 }, "ackermann_cmd": { "speed": 0.6192502379417419, "steering_angle": 0.502741277217865 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 6.157833470000696, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.16598302125930786, "y": 0.0015320628881454468, "yaw": 0.027971815317869186, "odom_age_sec": 0.028521397, "odom_linear_x": 0.48399999737739563, "odom_angular_z": 0.13205131888389587 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.383675650078679, "yaw_error_to_plan_end": 0.9320257126884917, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.616, "angular_z": 2.464 }, "ackermann_cmd": { "speed": 0.6159999966621399, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 6.258114587000819, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.21835476160049438, "y": 0.0031726807355880737, "yaw": 0.04412075132131577, "odom_age_sec": 0.028645396, "odom_linear_x": 0.5230000019073486, "odom_angular_z": 0.16878104209899902 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.3463254568190317, "yaw_error_to_plan_end": 0.9158767766850451, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.616, "angular_z": 2.464 }, "ackermann_cmd": { "speed": 0.6159999966621399, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 6.357943579001585, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.27422863245010376, "y": 0.0058364421129226685, "yaw": 0.0619685985147953, "odom_age_sec": 0.028598022, "odom_linear_x": 0.5490000247955322, "odom_angular_z": 0.18046903610229492 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.306256392204834, "yaw_error_to_plan_end": 0.8980289294915655, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.616, "angular_z": 2.464 }, "ackermann_cmd": { "speed": 0.6159999966621399, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 6.457773613001336, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.33186817169189453, "y": 0.009606912732124329, "yaw": 0.08070702850818633, "odom_age_sec": 0.028341564000000003, "odom_linear_x": 0.5619999766349792, "odom_angular_z": 0.18945133686065674 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.2646499071919473, "yaw_error_to_plan_end": 0.8792904994981744, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.616, "angular_z": 2.464 }, "ackermann_cmd": { "speed": 0.6159999966621399, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 6.557904772000256, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.39209645986557007, "y": 0.014677062630653381, "yaw": 0.10098479688167572, "odom_age_sec": 0.028567688, "odom_linear_x": 0.5820000171661377, "odom_angular_z": 0.2066677212715149 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.220857278575851, "yaw_error_to_plan_end": 0.8590127311246851, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.616, "angular_z": 2.464 }, "ackermann_cmd": { "speed": 0.6159999966621399, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 6.65787780500068, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.45318639278411865, "y": 0.021071046590805054, "yaw": 0.1225937828421593, "odom_age_sec": 0.028608897, "odom_linear_x": 0.5950000286102295, "odom_angular_z": 0.217640221118927 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.176044557172353, "yaw_error_to_plan_end": 0.8374037451642016, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.616, "angular_z": 2.464 }, "ackermann_cmd": { "speed": 0.6159999966621399, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 6.757840464000765, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.514252245426178, "y": 0.02878527343273163, "yaw": 0.1452058404684067, "odom_age_sec": 0.028471022000000002, "odom_linear_x": 0.6019999980926514, "odom_angular_z": 0.2327808141708374 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.1307954202107062, "yaw_error_to_plan_end": 0.8147916875379542, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.616, "angular_z": 2.464 }, "ackermann_cmd": { "speed": 0.6159999966621399, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 6.857988581001337, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.5758389830589294, "y": 0.03798562288284302, "yaw": 0.169258251786232, "odom_age_sec": 0.028617146000000003, "odom_linear_x": 0.6019999980926514, "odom_angular_z": 0.2407892644405365 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.0846274250105568, "yaw_error_to_plan_end": 0.7907392762201289, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.616, "angular_z": 2.464 }, "ackermann_cmd": { "speed": 0.6159999966621399, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 6.957875323001645, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.6383925080299377, "y": 0.0488499253988266, "yaw": 0.193904846906662, "odom_age_sec": 0.028452647, "odom_linear_x": 0.6150000095367432, "odom_angular_z": 0.2504505217075348 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 3.0371284352269847, "yaw_error_to_plan_end": 0.7660926810996989, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.616, "angular_z": 2.464 }, "ackermann_cmd": { "speed": 0.6159999966621399, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 7.057828773000438, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.6984999775886536, "y": 0.06081564724445343, "yaw": 0.21993522346019745, "odom_age_sec": 0.028518897, "odom_linear_x": 0.5950000286102295, "odom_angular_z": 0.2649911642074585 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.9908333628220842, "yaw_error_to_plan_end": 0.7400623045461634, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2513508582472093, "angular_z": 0.8572602818583216 }, "ackermann_cmd": { "speed": -0.25135084986686707, "steering_angle": -0.4537734389305115 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 7.157965598000374, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.7534834742546082, "y": 0.07326160371303558, "yaw": 0.2502075433731079, "odom_age_sec": 0.028609022, "odom_linear_x": 0.5170000195503235, "odom_angular_z": 0.31159859895706177 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.947761026733636, "yaw_error_to_plan_end": 0.7097899846332529, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6305484946319078, "angular_z": 2.0853591504652558 }, "ackermann_cmd": { "speed": 0.6305484771728516, "steering_angle": 0.4417594075202942 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 7.257806507001078, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.7982586026191711, "y": 0.08485554158687592, "yaw": 0.28372570872306824, "odom_age_sec": 0.028572647000000003, "odom_linear_x": 0.43799999356269836, "odom_angular_z": 0.34336188435554504 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.9118430131670734, "yaw_error_to_plan_end": 0.6762718192832926, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.616, "angular_z": 2.464 }, "ackermann_cmd": { "speed": 0.6159999966621399, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 7.357995124000809, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.8388933539390564, "y": 0.0968499630689621, "yaw": 0.31658869981765747, "odom_age_sec": 0.028656438000000003, "odom_linear_x": 0.4050000011920929, "odom_angular_z": 0.3039385974407196 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.8783046173004068, "yaw_error_to_plan_end": 0.6434088281887034, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.24653113140863828, "angular_z": 0.9822759572375539 }, "ackermann_cmd": { "speed": -0.24653112888336182, "steering_angle": -0.5178931355476379 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 7.457977241001572, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.872425377368927, "y": 0.10784517228603363, "yaw": 0.34225094318389887, "odom_age_sec": 0.028604730000000002, "odom_linear_x": 0.3140000104904175, "odom_angular_z": 0.24583689868450165 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.84990899113021, "yaw_error_to_plan_end": 0.6177465848224619, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2473504881534342, "angular_z": 0.9614134158594521 }, "ackermann_cmd": { "speed": -0.24735048413276672, "steering_angle": -0.5072998404502869 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 7.558000858000014, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.8961837887763977, "y": 0.11629657447338104, "yaw": 0.3678664863109589, "odom_age_sec": 0.028608521, "odom_linear_x": 0.22200000286102295, "odom_angular_z": 0.2580014765262604 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.8293417585527, "yaw_error_to_plan_end": 0.592131041695402, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6186000122728937, "angular_z": 2.3978111146191114 }, "ackermann_cmd": { "speed": 0.6186000108718872, "steering_angle": 0.5061348676681519 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 7.657907392000197, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.9164678454399109, "y": 0.1241065114736557, "yaw": 0.3905105888843536, "odom_age_sec": 0.028504563, "odom_linear_x": 0.22200000286102295, "odom_angular_z": 0.21295076608657837 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.811353217752555, "yaw_error_to_plan_end": 0.5694869391220072, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6193543999306433, "angular_z": 2.378486058952523 }, "ackermann_cmd": { "speed": 0.6193544268608093, "steering_angle": 0.5021966099739075 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 7.759259589000067, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.9404292702674866, "y": 0.1339031308889389, "yaw": 0.40701934695243835, "odom_age_sec": 0.029174604000000003, "odom_linear_x": 0.2549999952316284, "odom_angular_z": 0.15169349312782288 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.7897011111655887, "yaw_error_to_plan_end": 0.5529781810539225, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.24832322080239774, "angular_z": 0.936438075594642 }, "ackermann_cmd": { "speed": -0.2483232170343399, "steering_angle": -0.49455973505973816 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 7.857701292999991, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.9626680016517639, "y": 0.14338727295398712, "yaw": 0.4207590520381927, "odom_age_sec": 0.028342147, "odom_linear_x": 0.22200000286102295, "odom_angular_z": 0.13818825781345367 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.7693462711267163, "yaw_error_to_plan_end": 0.5392384759681681, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.24899089121266185, "angular_z": 0.9191649562702047 }, "ackermann_cmd": { "speed": -0.24899089336395264, "steering_angle": -0.48571234941482544 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 7.957928743000593, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.9782673716545105, "y": 0.1502939909696579, "yaw": 0.4360068142414093, "odom_age_sec": 0.028557230000000003, "odom_linear_x": 0.15000000596046448, "odom_angular_z": 0.15598443150520325 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.7548944021035897, "yaw_error_to_plan_end": 0.5239907137649515, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6223422575669922, "angular_z": 2.301414035395907 }, "ackermann_cmd": { "speed": 0.6223422288894653, "steering_angle": 0.4864308536052704 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 8.058013443000164, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.9927738308906555, "y": 0.15699081122875214, "yaw": 0.4502025842666626, "odom_age_sec": 0.028632188000000003, "odom_linear_x": 0.17000000178813934, "odom_angular_z": 0.13745227456092834 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.7412541292019954, "yaw_error_to_plan_end": 0.5097949437396982, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6229552312113112, "angular_z": 2.285497226399027 }, "ackermann_cmd": { "speed": 0.6229552030563354, "steering_angle": 0.48316332697868347 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 8.157808852000016, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.0136335492134094, "y": 0.1669548898935318, "yaw": 0.46106988191604614, "odom_age_sec": 0.028550854, "odom_linear_x": 0.24199999868869781, "odom_angular_z": 0.10196255147457123 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.7214057580482227, "yaw_error_to_plan_end": 0.4989276460903147, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.24973348692898614, "angular_z": 0.8998287912388139 }, "ackermann_cmd": { "speed": -0.24973349273204803, "steering_angle": -0.4757741093635559 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 8.257827761000954, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.0380457043647766, "y": 0.17891637980937958, "yaw": 0.4709116518497467, "odom_age_sec": 0.028468896, "odom_linear_x": 0.26100000739097595, "odom_angular_z": 0.10240167379379272 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.6979918525000777, "yaw_error_to_plan_end": 0.48908587615661414, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2505555833575616, "angular_z": 0.8782694033891973 }, "ackermann_cmd": { "speed": -0.2505555748939514, "steering_angle": -0.46465200185775757 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 8.359289291000096, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.0580891966819763, "y": 0.188994362950325, "yaw": 0.48469871282577515, "odom_age_sec": 0.029263062000000003, "odom_linear_x": 0.20200000703334808, "odom_angular_z": 0.15045501291751862 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.6786055584391253, "yaw_error_to_plan_end": 0.4752988151805857, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6268290834250059, "angular_z": 2.1840789795271967 }, "ackermann_cmd": { "speed": 0.6268290877342224, "steering_angle": 0.4622539281845093 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 8.45779937000043, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.0746939778327942, "y": 0.19765473902225494, "yaw": 0.5010567903518677, "odom_age_sec": 0.028484022, "odom_linear_x": 0.18299999833106995, "odom_angular_z": 0.16225489974021912 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.662319646010309, "yaw_error_to_plan_end": 0.45894073765449317, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6277432905099197, "angular_z": 2.159936408415349 }, "ackermann_cmd": { "speed": 0.6277433037757874, "steering_angle": 0.4572543501853943 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 8.557797487001153, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.0935974717140198, "y": 0.2079077512025833, "yaw": 0.5156865119934082, "odom_age_sec": 0.028408688, "odom_linear_x": 0.22200000286102295, "odom_angular_z": 0.13455137610435486 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.643486627261102, "yaw_error_to_plan_end": 0.4443110160129527, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6289324521449596, "angular_z": 2.1284136733523713 }, "ackermann_cmd": { "speed": 0.6289324760437012, "steering_angle": 0.4507141411304474 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 8.657848312001079, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.118075668811798, "y": 0.22160933911800385, "yaw": 0.5268954634666444, "odom_age_sec": 0.028530355, "odom_linear_x": 0.28700000047683716, "odom_angular_z": 0.10935904085636139 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.6188014767342165, "yaw_error_to_plan_end": 0.43310206453971645, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2523651955998183, "angular_z": 0.8302455735493561 }, "ackermann_cmd": { "speed": -0.25236520171165466, "steering_angle": -0.43972912430763245 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 8.757785888001308, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.1410890221595764, "y": 0.23481179773807526, "yaw": 0.5373430252075195, "odom_age_sec": 0.028490605000000002, "odom_linear_x": 0.24199999868869781, "odom_angular_z": 0.10378549993038177 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.5953838218365783, "yaw_error_to_plan_end": 0.42265450279884137, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2532456660727045, "angular_z": 0.8065975137797035 }, "ackermann_cmd": { "speed": -0.25324565172195435, "steering_angle": -0.42738574743270874 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 8.859362043000147, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.150816023349762, "y": 0.24049486219882965, "yaw": 0.5430442094802856, "odom_age_sec": 0.07925537, "odom_linear_x": 0.22200000286102295, "odom_angular_z": 0.11513406038284302 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.5854167050949437, "yaw_error_to_plan_end": 0.41695331852607515, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6332402454057658, "angular_z": 2.013093494403882 }, "ackermann_cmd": { "speed": 0.6332402229309082, "steering_angle": 0.4266744554042816 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 8.959096452001177, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.1539453864097595, "y": 0.24234701693058014, "yaw": 0.5491393208503723, "odom_age_sec": 0.028801354, "odom_linear_x": 0.07100000232458115, "odom_angular_z": 0.12194320559501648 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.5821921378129455, "yaw_error_to_plan_end": 0.41085820715598853, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6346991100702107, "angular_z": 1.9736388916776206 }, "ackermann_cmd": { "speed": 0.6346991062164307, "steering_angle": 0.4184109568595886 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 9.057928905000153, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.1584965586662292, "y": 0.2450963407754898, "yaw": 0.5586323142051697, "odom_age_sec": 0.028554063, "odom_linear_x": 0.057999998331069946, "odom_angular_z": 0.0823325663805008 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.5774571507220063, "yaw_error_to_plan_end": 0.4013652138011911, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.632799642443482, "angular_z": 2.024969630182797 }, "ackermann_cmd": { "speed": 0.6327996253967285, "steering_angle": 0.429158091545105 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 9.158021105000444, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.164052426815033, "y": 0.24850161373615265, "yaw": 0.5619882345199585, "odom_age_sec": 0.028634771000000003, "odom_linear_x": 0.12999999523162842, "odom_angular_z": 0.06858428567647934 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.5716382707986645, "yaw_error_to_plan_end": 0.39800929348640235, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6331220529962298, "angular_z": 2.0162811003428573 }, "ackermann_cmd": { "speed": 0.6331220269203186, "steering_angle": 0.4273412525653839 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 9.259110636001424, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.1815305352210999, "y": 0.25933580100536346, "yaw": 0.5682182908058168, "odom_age_sec": 0.029118145, "odom_linear_x": 0.22200000286102295, "odom_angular_z": 0.061844438314437866 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.553251057203455, "yaw_error_to_plan_end": 0.39177923720054403, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6345191093654637, "angular_z": 1.97851792408968 }, "ackermann_cmd": { "speed": 0.634519100189209, "steering_angle": 0.4194338619709015 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 9.35774900600154, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.2072697281837463, "y": 0.27551598846912384, "yaw": 0.5751944184303285, "odom_age_sec": 0.028445147, "odom_linear_x": 0.3199999928474426, "odom_angular_z": 0.07080041617155075 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.5260415428871745, "yaw_error_to_plan_end": 0.38480310957603236, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2546971144359797, "angular_z": 0.7672109452452125 }, "ackermann_cmd": { "speed": -0.25469711422920227, "steering_angle": -0.40673211216926575 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 9.457893123000758, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.2225331664085388, "y": 0.2852194458246231, "yaw": 0.5795596837997438, "odom_age_sec": 0.07853887200000001, "odom_linear_x": 0.35899999737739563, "odom_angular_z": 0.08873529732227325 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.5098477868305356, "yaw_error_to_plan_end": 0.3804378442066171, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6370365229671947, "angular_z": 1.9100016420430057 }, "ackermann_cmd": { "speed": 0.6370365023612976, "steering_angle": 0.40504372119903564 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 9.559063779001008, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.2596483826637268, "y": 0.3092048019170761, "yaw": 0.5932450294494629, "odom_age_sec": 0.028894646000000003, "odom_linear_x": 0.43799999356269836, "odom_angular_z": 0.14937184751033783 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.470244118759988, "yaw_error_to_plan_end": 0.36675249855689795, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2554535551856273, "angular_z": 0.746485308928491 }, "ackermann_cmd": { "speed": -0.25545355677604675, "steering_angle": -0.39581942558288574 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 9.658039065001503, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.2939310669898987, "y": 0.33206866681575775, "yaw": 0.6101848483085632, "odom_age_sec": 0.028756688000000002, "odom_linear_x": 0.3919999897480011, "odom_angular_z": 0.1738227754831314 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.433190054429464, "yaw_error_to_plan_end": 0.3498126796977976, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6390212496342237, "angular_z": 1.855557964755798 }, "ackermann_cmd": { "speed": 0.6390212774276733, "steering_angle": 0.393571674823761 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 9.75779489100023, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3202943205833435, "y": 0.3503132313489914, "yaw": 0.6326298713684083, "odom_age_sec": 0.028477980000000003, "odom_linear_x": 0.27399998903274536, "odom_angular_z": 0.24802014231681824 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.4042128829286646, "yaw_error_to_plan_end": 0.32736765663795253, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6398133819464976, "angular_z": 1.8337239830825445 }, "ackermann_cmd": { "speed": 0.6398133635520935, "steering_angle": 0.38896214962005615 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 9.857803841001441, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3389690518379211, "y": 0.3639264553785324, "yaw": 0.6600939631462097, "odom_age_sec": 0.028610563000000002, "odom_linear_x": 0.2150000035762787, "odom_angular_z": 0.27059605717658997 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.3831347583437243, "yaw_error_to_plan_end": 0.29990356486015113, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2561634387912088, "angular_z": 0.7269113676429871 }, "ackermann_cmd": { "speed": -0.25616344809532166, "steering_angle": -0.38548699021339417 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 9.957676333000563, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.35262793302536, "y": 0.3744528144598007, "yaw": 0.6831703782081604, "odom_age_sec": 0.028358605000000002, "odom_linear_x": 0.16300000250339508, "odom_angular_z": 0.21320044994354248 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.367245976539977, "yaw_error_to_plan_end": 0.27682714979820044, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6400305083057068, "angular_z": 1.8277287739015857 }, "ackermann_cmd": { "speed": 0.6400305032730103, "steering_angle": 0.3876955807209015 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 10.058055283001522, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3663857579231262, "y": 0.3855297416448593, "yaw": 0.697831928730011, "odom_age_sec": 0.028717188, "odom_linear_x": 0.17599999904632568, "odom_angular_z": 0.12435071170330048 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.3508476372857694, "yaw_error_to_plan_end": 0.26216559927634986, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6398915379767649, "angular_z": 1.8315664861650403 }, "ackermann_cmd": { "speed": 0.6398915648460388, "steering_angle": 0.38850638270378113 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 10.157661192000887, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.38181871175766, "y": 0.3982875794172287, "yaw": 0.7068073153495789, "odom_age_sec": 0.028355147, "odom_linear_x": 0.20900000631809235, "odom_angular_z": 0.08196298778057098 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.3321843416186416, "yaw_error_to_plan_end": 0.25319021265678193, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.25624686834754556, "angular_z": 0.7246030475462408 }, "ackermann_cmd": { "speed": -0.2562468647956848, "steering_angle": -0.3842668831348419 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 10.257781976000842, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.4004713892936707, "y": 0.41397814452648163, "yaw": 0.7151825428009032, "odom_age_sec": 0.028609188, "odom_linear_x": 0.2549999952316284, "odom_angular_z": 0.08407530188560486 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.3094203969239637, "yaw_error_to_plan_end": 0.2448149852054576, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6408790442299168, "angular_z": 1.804256267994767 }, "ackermann_cmd": { "speed": 0.6408790349960327, "steering_angle": 0.3827333152294159 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 10.357718885001304, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.4245005249977112, "y": 0.43453215062618256, "yaw": 0.7231596708297731, "odom_age_sec": 0.028497605000000002, "odom_linear_x": 0.3269999921321869, "odom_angular_z": 0.07903799414634705 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.2798448200171766, "yaw_error_to_plan_end": 0.23683785717658778, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6414397179393317, "angular_z": 1.7887090860687007 }, "ackermann_cmd": { "speed": 0.6414397358894348, "steering_angle": 0.37944355607032776 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 10.457592501999898, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.4518643021583557, "y": 0.45831017196178436, "yaw": 0.7308321595191954, "odom_age_sec": 0.028394897000000002, "odom_linear_x": 0.3529999852180481, "odom_angular_z": 0.07466673851013184 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.2459054467800974, "yaw_error_to_plan_end": 0.2291653684871654, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2568860609634192, "angular_z": 0.7068629467209352 }, "ackermann_cmd": { "speed": -0.2568860650062561, "steering_angle": -0.374879390001297 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 10.559042157001386, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.466864287853241, "y": 0.47149525582790375, "yaw": 0.7343968749046327, "odom_age_sec": 0.029055188000000003, "odom_linear_x": 0.39899998903274536, "odom_angular_z": 0.07272402197122574 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.227198895733517, "yaw_error_to_plan_end": 0.22560065310172817, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2571451094602015, "angular_z": 0.6996456344711207 }, "ackermann_cmd": { "speed": -0.25714510679244995, "steering_angle": -0.3710549473762512 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 10.657858860000488, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.4970754981040955, "y": 0.4984007328748703, "yaw": 0.7477238774299622, "odom_age_sec": 0.028574938, "odom_linear_x": 0.38600000739097595, "odom_angular_z": 0.14588850736618042 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.1892806797695132, "yaw_error_to_plan_end": 0.2122736505763987, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2572523847488218, "angular_z": 0.6966521750850327 }, "ackermann_cmd": { "speed": -0.25725239515304565, "steering_angle": -0.3694678246974945 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 10.758064727000601, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.5211734175682068, "y": 0.5204863995313644, "yaw": 0.7652971148490907, "odom_age_sec": 0.028320564000000003, "odom_linear_x": 0.3070000112056732, "odom_angular_z": 0.18872570991516113 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.158546975231939, "yaw_error_to_plan_end": 0.19470041315727016, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2574165125788243, "angular_z": 0.6920669730746192 }, "ackermann_cmd": { "speed": -0.2574165165424347, "steering_angle": -0.367035835981369 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 10.858463843000209, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.5429708361625671, "y": 0.5412293523550034, "yaw": 0.785988450050354, "odom_age_sec": 0.029032687, "odom_linear_x": 0.2809999883174896, "odom_angular_z": 0.19913801550865173 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.1301161439550604, "yaw_error_to_plan_end": 0.17400907795600684, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.25749048071221065, "angular_z": 0.6899984454778183 }, "ackermann_cmd": { "speed": -0.25749048590660095, "steering_angle": -0.36593830585479736 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 10.957998669000517, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.5623049139976501, "y": 0.5603633970022202, "yaw": 0.8010216355323793, "odom_age_sec": 0.028711563000000002, "odom_linear_x": 0.27399998903274536, "odom_angular_z": 0.1443336009979248 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.1042814121849487, "yaw_error_to_plan_end": 0.15897589247398158, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2575547389135015, "angular_z": 0.6882003998783938 }, "ackermann_cmd": { "speed": -0.2575547397136688, "steering_angle": -0.3649841248989105 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 11.05798078600128, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.5809428095817566, "y": 0.5793431252241135, "yaw": 0.8141196966171265, "odom_age_sec": 0.028642813000000003, "odom_linear_x": 0.26100000739097595, "odom_angular_z": 0.13125436007976532 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.078932362281241, "yaw_error_to_plan_end": 0.14587783138923438, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6440710038292272, "angular_z": 1.7153449860414585 }, "ackermann_cmd": { "speed": 0.6440709829330444, "steering_angle": 0.3638893961906433 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 11.158037028000763, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.6017171740531921, "y": 0.6010513156652451, "yaw": 0.8255445361137391, "odom_age_sec": 0.028636605000000002, "odom_linear_x": 0.3009999990463257, "odom_angular_z": 0.10925919562578201 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.0502200665194543, "yaw_error_to_plan_end": 0.13445299189262172, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6443061986289599, "angular_z": 1.708755307074818 }, "ackermann_cmd": { "speed": 0.6443061828613281, "steering_angle": 0.3624899685382843 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 11.257752146000712, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.6213106513023376, "y": 0.6219760626554489, "yaw": 0.835984170436859, "odom_age_sec": 0.028494230000000002, "odom_linear_x": 0.2680000066757202, "odom_angular_z": 0.10485794395208359 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 2.0227713019002285, "yaw_error_to_plan_end": 0.12401335756950183, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6445590764994323, "angular_z": 1.7016643072286455 }, "ackermann_cmd": { "speed": 0.6445590853691101, "steering_angle": 0.360983669757843 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 11.35913155200069, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.6381234526634216, "y": 0.6403329819440842, "yaw": 0.849402129650116, "odom_age_sec": 0.029166145, "odom_linear_x": 0.23499999940395355, "odom_angular_z": 0.14142769575119019 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.9988842740588126, "yaw_error_to_plan_end": 0.11059539835624486, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6446769673548666, "angular_z": 1.6983564243113756 }, "ackermann_cmd": { "speed": 0.6446769833564758, "steering_angle": 0.360280841588974 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 11.45791025500148, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.6490105986595154, "y": 0.6525446623563766, "yaw": 0.8629304170608519, "odom_age_sec": 0.02874248, "odom_linear_x": 0.13699999451637268, "odom_angular_z": 0.12990981340408325 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.9831374029271363, "yaw_error_to_plan_end": 0.0970671109455089, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.25795356893571264, "angular_z": 0.6770185208723917 }, "ackermann_cmd": { "speed": -0.25795355439186096, "steering_angle": -0.3590461313724518 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 11.557674580000821, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.6539830565452576, "y": 0.6582665890455246, "yaw": 0.8743244409561157, "odom_age_sec": 0.02854423, "odom_linear_x": 0.052000001072883606, "odom_angular_z": 0.10532209277153015 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.9758186425939475, "yaw_error_to_plan_end": 0.08567308705024512, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6447489251901976, "angular_z": 1.6963367190106329 }, "ackermann_cmd": { "speed": 0.6447489261627197, "steering_angle": 0.3598516583442688 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 11.658110738000687, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.6561259627342224, "y": 0.6607929319143295, "yaw": 0.8821118474006653, "odom_age_sec": 0.028755521000000003, "odom_linear_x": 0.039000000804662704, "odom_angular_z": 0.06692764908075333 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.9726107875478553, "yaw_error_to_plan_end": 0.07788568060569556, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.64472827265678, "angular_z": 1.6969164427024137 }, "ackermann_cmd": { "speed": 0.6447282433509827, "steering_angle": 0.35997486114501953 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 11.757854022000174, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.6622790694236755, "y": 0.6681495159864426, "yaw": 0.887054741382599, "odom_age_sec": 0.028561688000000002, "odom_linear_x": 0.12399999797344208, "odom_angular_z": 0.04498455673456192 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.963309446473908, "yaw_error_to_plan_end": 0.07294278662376186, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6447833959674362, "angular_z": 1.6953690219955095 }, "ackermann_cmd": { "speed": 0.6447833776473999, "steering_angle": 0.3596460223197937 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 11.857752223000716, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.6748177409172058, "y": 0.6832777708768845, "yaw": 0.8916792869567872, "odom_age_sec": 0.028444146000000003, "odom_linear_x": 0.2150000035762787, "odom_angular_z": 0.046378470957279205 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.944240399442914, "yaw_error_to_plan_end": 0.06831824104957362, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.25799996394909114, "angular_z": 0.6757152985730002 }, "ackermann_cmd": { "speed": -0.2579999566078186, "steering_angle": -0.3583536744117737 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 11.95796633900136, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.6921407580375671, "y": 0.7043800204992294, "yaw": 0.8972359895706177, "odom_age_sec": 0.028610938000000002, "odom_linear_x": 0.27399998903274536, "odom_angular_z": 0.058283910155296326 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.9177324735470582, "yaw_error_to_plan_end": 0.06276153843574317, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.25804779372143694, "angular_z": 0.6743712377977479 }, "ackermann_cmd": { "speed": -0.25804778933525085, "steering_angle": -0.3576394021511078 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 12.057789207001406, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.7103108763694763, "y": 0.7267980426549911, "yaw": 0.9062824249267578, "odom_age_sec": 0.028610063, "odom_linear_x": 0.2809999883174896, "odom_angular_z": 0.09961569309234619 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.8896957984259366, "yaw_error_to_plan_end": 0.05371510307960303, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2580932816718917, "angular_z": 0.6730924790432451 }, "ackermann_cmd": { "speed": -0.2580932676792145, "steering_angle": -0.356959730386734 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 12.158065990000978, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.7295884490013123, "y": 0.7510725110769272, "yaw": 0.9179330468177794, "odom_age_sec": 0.028760397000000004, "odom_linear_x": 0.3070000112056732, "odom_angular_z": 0.1188434362411499 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.8595335965597906, "yaw_error_to_plan_end": 0.042064481188581415, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2581280580574268, "angular_z": 0.6721145118549069 }, "ackermann_cmd": { "speed": -0.2581280469894409, "steering_angle": -0.35643988847732544 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 12.257956815001307, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.7487494349479675, "y": 0.7757838815450668, "yaw": 0.9285212755203247, "odom_age_sec": 0.028729854000000003, "odom_linear_x": 0.3140000104904175, "odom_angular_z": 0.10297946631908417 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.829051572806296, "yaw_error_to_plan_end": 0.03147625248603614, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2581593603846952, "angular_z": 0.6712339944618718 }, "ackermann_cmd": { "speed": -0.2581593692302704, "steering_angle": -0.3559718132019043 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 12.357637308001358, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.757518470287323, "y": 0.7872783988714218, "yaw": 0.9344502091407775, "odom_age_sec": 0.028441521, "odom_linear_x": 0.2939999997615814, "odom_angular_z": 0.12264364957809448 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.8149419995393932, "yaw_error_to_plan_end": 0.02554731886558337, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6454061530149766, "angular_z": 1.6778668933758183 }, "ackermann_cmd": { "speed": 0.6454061269760132, "steering_angle": 0.35592544078826904 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 12.45765800800109, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.772601306438446, "y": 0.807429239153862, "yaw": 0.9488120079040527, "odom_age_sec": 0.028502689, "odom_linear_x": 0.2290000021457672, "odom_angular_z": 0.14957840740680695 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.790340509272459, "yaw_error_to_plan_end": 0.01118552010230811, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6454310598208136, "angular_z": 1.6771661377690847 }, "ackermann_cmd": { "speed": 0.6454310417175293, "steering_angle": 0.35577642917633057 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 12.559138831000382, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.7844762206077576, "y": 0.8237969130277634, "yaw": 0.9642009139060973, "odom_age_sec": 0.029155687000000003, "odom_linear_x": 0.18299999833106995, "odom_angular_z": 0.14974702894687653 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.7705248957762543, "yaw_error_to_plan_end": 0.004203385899736456, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6454749774618104, "angular_z": 1.6759303663782203 }, "ackermann_cmd": { "speed": 0.6454749703407288, "steering_angle": 0.3555136024951935 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 12.658151283001644, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.7919129729270935, "y": 0.8343726843595505, "yaw": 0.9768401980400085, "odom_age_sec": 0.028776438, "odom_linear_x": 0.11100000143051147, "odom_angular_z": 0.11800544708967209 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.757823398776871, "yaw_error_to_plan_end": 0.0168426700336477, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6454668495090634, "angular_z": 1.6761590876756411 }, "ackermann_cmd": { "speed": 0.6454668641090393, "steering_angle": 0.3555622696876526 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 12.758054900001298, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.7995726466178894, "y": 0.8455596417188644, "yaw": 0.9857874512672424, "odom_age_sec": 0.02868423, "odom_linear_x": 0.14300000667572021, "odom_angular_z": 0.07878345251083374 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.7444764151490835, "yaw_error_to_plan_end": 0.025789923260881586, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.25818422533244456, "angular_z": 0.6705343907821395 }, "ackermann_cmd": { "speed": -0.2581842243671417, "steering_angle": -0.35559988021850586 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 12.85778372599998, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.8065921664237976, "y": 0.8559869974851608, "yaw": 0.9924561381340027, "odom_age_sec": 0.02859998, "odom_linear_x": 0.11699999868869781, "odom_angular_z": 0.06726399064064026 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.7320878026979767, "yaw_error_to_plan_end": 0.03245861012764184, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6454755114647347, "angular_z": 1.6759153392692097 }, "ackermann_cmd": { "speed": 0.6454755067825317, "steering_angle": 0.355510413646698 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 12.95880546600165, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.814865529537201, "y": 0.8684645146131516, "yaw": 0.9994024634361267, "odom_age_sec": 0.028887396000000003, "odom_linear_x": 0.15700000524520874, "odom_angular_z": 0.07027889043092728 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.7173184217562587, "yaw_error_to_plan_end": 0.03940493542976586, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.25817373879240574, "angular_z": 0.6708294595028884 }, "ackermann_cmd": { "speed": -0.25817373394966125, "steering_angle": -0.3557567596435547 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 13.059405123000033, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.8229815363883972, "y": 0.8808901757001877, "yaw": 1.0062315464019775, "odom_age_sec": 0.029209687, "odom_linear_x": 0.14300000667572021, "odom_angular_z": 0.0654812604188919 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.7026639561826795, "yaw_error_to_plan_end": 0.046234018395616694, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6454523065192931, "angular_z": 1.6765683129728388 }, "ackermann_cmd": { "speed": 0.6454523205757141, "steering_angle": 0.35564929246902466 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 13.158058701999835, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.8322784304618835, "y": 0.8953358381986618, "yaw": 1.0123226642608643, "odom_age_sec": 0.028732855, "odom_linear_x": 0.17599999904632568, "odom_angular_z": 0.0600452683866024 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.6856874250959222, "yaw_error_to_plan_end": 0.052325136254503406, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.25814909709021333, "angular_z": 0.6715227210437317 }, "ackermann_cmd": { "speed": -0.25814908742904663, "steering_angle": -0.3561252951622009 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 13.257850861000406, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.8415438532829285, "y": 0.9099208563566208, "yaw": 1.0181859731674194, "odom_age_sec": 0.028729396, "odom_linear_x": 0.15700000524520874, "odom_angular_z": 0.05828014761209488 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.6686002738587005, "yaw_error_to_plan_end": 0.05818844516105859, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6453593583469343, "angular_z": 1.679183306518442 }, "ackermann_cmd": { "speed": 0.6453593373298645, "steering_angle": 0.35620537400245667 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 13.358193227000811, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.8487655520439148, "y": 0.9214462488889694, "yaw": 1.0248149633407593, "odom_age_sec": 0.028786271000000002, "odom_linear_x": 0.13699999451637268, "odom_angular_z": 0.06787599623203278 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.655140773179326, "yaw_error_to_plan_end": 0.06481743533439843, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2581185319572877, "angular_z": 0.6723824295541919 }, "ackermann_cmd": { "speed": -0.25811854004859924, "steering_angle": -0.35658231377601624 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 13.457545844999913, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.8543035387992859, "y": 0.9304098337888718, "yaw": 1.0303845405578613, "odom_age_sec": 0.028333063000000002, "odom_linear_x": 0.09099999815225601, "odom_angular_z": 0.05308469384908676 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.644706165968429, "yaw_error_to_plan_end": 0.07038701255150048, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6453433811099941, "angular_z": 1.6796327254531807 }, "ackermann_cmd": { "speed": 0.6453433632850647, "steering_angle": 0.3563009202480316 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 13.558988501001295, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.8613888621330261, "y": 0.9420261830091476, "yaw": 1.0352510213851929, "odom_age_sec": 0.029037229, "odom_linear_x": 0.15000000596046448, "odom_angular_z": 0.047418780624866486 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.6312221467081665, "yaw_error_to_plan_end": 0.07525349337883203, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.25810350511572483, "angular_z": 0.6728050094499954 }, "ackermann_cmd": { "speed": -0.25810351967811584, "steering_angle": -0.3568069338798523 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 13.657804745000249, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.871717393398285, "y": 0.9591421335935593, "yaw": 1.039624810218811, "odom_age_sec": 0.028536230000000003, "odom_linear_x": 0.20900000631809235, "odom_angular_z": 0.04079628363251686 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.6114025179856661, "yaw_error_to_plan_end": 0.07962728221245019, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.26126920790947766, "angular_z": 0.582592763453319 }, "ackermann_cmd": { "speed": -0.261269211769104, "steering_angle": -0.3086770474910736 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 13.757758821000607, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.8818339705467224, "y": 0.9760703295469284, "yaw": 1.0449274778366089, "odom_age_sec": 0.028523813000000002, "odom_linear_x": 0.18299999833106995, "odom_angular_z": 0.05930107831954956 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.5918437990197598, "yaw_error_to_plan_end": 0.08492994983024804, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6530078133493782, "angular_z": 1.4612507166299242 }, "ackermann_cmd": { "speed": 0.6530078053474426, "steering_angle": 0.30969786643981934 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 13.857794438001292, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.8906187415122986, "y": 0.9909755438566208, "yaw": 1.0526832342147825, "odom_age_sec": 0.028518813, "odom_linear_x": 0.17000000178813934, "odom_angular_z": 0.08154422044754028 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.574674527660954, "yaw_error_to_plan_end": 0.09268570620842165, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.26086334508673503, "angular_z": 0.5942918826720013 }, "ackermann_cmd": { "speed": -0.260863333940506, "steering_angle": -0.314936101436615 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 13.958112762000383, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.8977155089378357, "y": 1.0032389611005783, "yaw": 1.0610198974609375, "odom_age_sec": 0.028834437, "odom_linear_x": 0.12999999523162842, "odom_angular_z": 0.08215538412332535 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.5606023944421394, "yaw_error_to_plan_end": 0.10102236945457664, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6526197726817141, "angular_z": 1.4724415800984583 }, "ackermann_cmd": { "speed": 0.6526197791099548, "steering_angle": 0.31209295988082886 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 14.058051088000866, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.9059023261070251, "y": 1.0176684111356735, "yaw": 1.0688713788986206, "odom_age_sec": 0.028664230000000002, "odom_linear_x": 0.17000000178813934, "odom_angular_z": 0.07766473293304443 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.54411156404591, "yaw_error_to_plan_end": 0.10887385089225976, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.26071606405200654, "angular_z": 0.598527604737127 }, "ackermann_cmd": { "speed": -0.260716050863266, "steering_angle": -0.3172011375427246 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 14.157972372000586, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.9168497920036316, "y": 1.0373207777738571, "yaw": 1.07629656791687, "odom_age_sec": 0.028721396000000003, "odom_linear_x": 0.2290000021457672, "odom_angular_z": 0.0720195323228836 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.521734901259916, "yaw_error_to_plan_end": 0.11629903991050905, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6517150897853464, "angular_z": 1.4984764093247769 }, "ackermann_cmd": { "speed": 0.651715099811554, "steering_angle": 0.3176625370979309 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 14.258271738000985, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.9292415976524353, "y": 1.0599424093961716, "yaw": 1.0825163125991821, "odom_age_sec": 0.028913271, "odom_linear_x": 0.26100000739097595, "odom_angular_z": 0.06308113038539886 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.4960639873222283, "yaw_error_to_plan_end": 0.1225187845928213, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.25997924423840657, "angular_z": 0.6196405895215233 }, "ackermann_cmd": { "speed": -0.259979248046875, "steering_angle": -0.32848188281059265 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 14.357819106000534, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.9402422308921814, "y": 1.0803297013044357, "yaw": 1.0897290706634524, "odom_age_sec": 0.028648188, "odom_linear_x": 0.22200000286102295, "odom_angular_z": 0.07798123359680176 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.4729975863494038, "yaw_error_to_plan_end": 0.12973154265709153, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.25984578271689157, "angular_z": 0.6234509958304305 }, "ackermann_cmd": { "speed": -0.2598457932472229, "steering_angle": -0.3305160403251648 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 14.457642598001257, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.948779284954071, "y": 1.0964409559965134, "yaw": 1.0978307723999023, "odom_age_sec": 0.028535647, "odom_linear_x": 0.17000000178813934, "odom_angular_z": 0.08272712677717209 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.4548322821915831, "yaw_error_to_plan_end": 0.13783324439354153, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6499255935668921, "angular_z": 1.5497446820736889 }, "ackermann_cmd": { "speed": 0.6499255895614624, "steering_angle": 0.3286192715167999 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 14.55789171500146, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.9570128321647644, "y": 1.112301990389824, "yaw": 1.106136441230774, "odom_age_sec": 0.028731271000000003, "odom_linear_x": 0.18299999833106995, "odom_angular_z": 0.08443564921617508 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.4370172308928735, "yaw_error_to_plan_end": 0.14613891322441308, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.25951406499295476, "angular_z": 0.6329033653404522 }, "ackermann_cmd": { "speed": -0.25951406359672546, "steering_angle": -0.335559606552124 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 14.657680082000297, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.9673911929130554, "y": 1.1327060908079147, "yaw": 1.1138720512390137, "odom_age_sec": 0.028501147, "odom_linear_x": 0.2290000021457672, "odom_angular_z": 0.07558676600456238 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.4141842724500293, "yaw_error_to_plan_end": 0.15387452323265283, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6486929821757853, "angular_z": 1.5848810666159983 }, "ackermann_cmd": { "speed": 0.6486929655075073, "steering_angle": 0.3361191153526306 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 14.758978863001175, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.9769975543022156, "y": 1.1519520729780197, "yaw": 1.1212620735168455, "odom_age_sec": 0.028989104, "odom_linear_x": 0.20200000703334808, "odom_angular_z": 0.07410638779401779 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.3927198202010695, "yaw_error_to_plan_end": 0.16126454551048464, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2587163575419578, "angular_z": 0.6555269585678624 }, "ackermann_cmd": { "speed": -0.258716344833374, "steering_angle": -0.3476155400276184 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 14.85776185800023, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.98381108045578, "y": 1.165866419672966, "yaw": 1.1297491788864138, "odom_age_sec": 0.028511814000000003, "odom_linear_x": 0.14300000667572021, "odom_angular_z": 0.0900714173913002 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.3772532995762972, "yaw_error_to_plan_end": 0.16975165088005295, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6474158215413454, "angular_z": 1.621134718899362 }, "ackermann_cmd": { "speed": 0.647415816783905, "steering_angle": 0.3438488245010376 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 14.95918801300104, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.9906763434410095, "y": 1.1802242249250412, "yaw": 1.139436960220337, "odom_age_sec": 0.029252645, "odom_linear_x": 0.17000000178813934, "odom_angular_z": 0.0969059020280838 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.3613582753787457, "yaw_error_to_plan_end": 0.17943943221397607, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2585712034380001, "angular_z": 0.6596273470552853 }, "ackermann_cmd": { "speed": -0.25857120752334595, "steering_angle": -0.34979814291000366 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 15.057947717001298, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.9982017874717712, "y": 1.1963594406843185, "yaw": 1.1488821506500244, "odom_age_sec": 0.028659563000000002, "odom_linear_x": 0.17599999904632568, "odom_angular_z": 0.09241755306720734 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.3435691605042674, "yaw_error_to_plan_end": 0.18888462264366354, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6468590269229106, "angular_z": 1.636891339732506 }, "ackermann_cmd": { "speed": 0.6468590497970581, "steering_angle": 0.34720537066459656 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 15.157825542000865, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.005880296230316, "y": 1.213225170969963, "yaw": 1.1568760871887207, "odom_age_sec": 0.028580688000000003, "odom_linear_x": 0.1889999955892563, "odom_angular_z": 0.08127385377883911 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.325047269754376, "yaw_error_to_plan_end": 0.19687855918235986, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2580805487218756, "angular_z": 0.6734504778024734 }, "ackermann_cmd": { "speed": -0.25808054208755493, "steering_angle": -0.35715001821517944 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 15.258056909000516, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.0136772990226746, "y": 1.2307336777448654, "yaw": 1.1663491725921633, "odom_age_sec": 0.028778230000000002, "odom_linear_x": 0.18299999833106995, "odom_angular_z": 0.09853469580411911 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.3058867132031524, "yaw_error_to_plan_end": 0.20635164458580246, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6455168246173597, "angular_z": 1.6747526841939369 }, "ackermann_cmd": { "speed": 0.6455168128013611, "steering_angle": 0.3552631437778473 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 15.357710651000161, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.021010100841522, "y": 1.2476560324430466, "yaw": 1.1766910552978516, "odom_age_sec": 0.028438272, "odom_linear_x": 0.1889999955892563, "odom_angular_z": 0.10453544557094574 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.2874458366547716, "yaw_error_to_plan_end": 0.21669352729149072, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.25756357630947585, "angular_z": 0.6879530387292919 }, "ackermann_cmd": { "speed": -0.25756359100341797, "steering_angle": -0.36485281586647034 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 15.457618477001233, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.030166804790497, "y": 1.2694106549024582, "yaw": 1.1865515708923338, "odom_age_sec": 0.028501772, "odom_linear_x": 0.24199999868869781, "odom_angular_z": 0.09461000561714172 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.2638428729125177, "yaw_error_to_plan_end": 0.22655404288597292, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.644013150920379, "angular_z": 1.7169650993271601 }, "ackermann_cmd": { "speed": 0.6440131664276123, "steering_angle": 0.3642334043979645 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 15.557896677000826, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.039672553539276, "y": 1.292616292834282, "yaw": 1.1953428983688352, "odom_age_sec": 0.02860073, "odom_linear_x": 0.2549999952316284, "odom_angular_z": 0.08675248920917511 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.2387661720269265, "yaw_error_to_plan_end": 0.2353453703624744, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2563903935592692, "angular_z": 0.7206281294188619 }, "ackermann_cmd": { "speed": -0.25639039278030396, "steering_angle": -0.3821651339530945 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 15.657684294001228, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.047914445400238, "y": 1.3132539242506027, "yaw": 1.205663800239563, "odom_age_sec": 0.028568896000000003, "odom_linear_x": 0.20200000703334808, "odom_angular_z": 0.11056777834892273 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.216546031146749, "yaw_error_to_plan_end": 0.24566627223320214, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.640783015517959, "angular_z": 1.8069160898229721 }, "ackermann_cmd": { "speed": 0.6407830119132996, "steering_angle": 0.3832958936691284 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 15.75781691100019, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.0543381571769714, "y": 1.329870030283928, "yaw": 1.2175143957138062, "odom_age_sec": 0.028595146000000002, "odom_linear_x": 0.17000000178813934, "odom_angular_z": 0.12206146866083145 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.198737492435518, "yaw_error_to_plan_end": 0.2575168677074453, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.25554219160047786, "angular_z": 0.7440478523998171 }, "ackermann_cmd": { "speed": -0.25554218888282776, "steering_angle": -0.3945341110229492 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 15.857778111001608, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.059055745601654, "y": 1.3425195664167404, "yaw": 1.2292598485946653, "odom_age_sec": 0.028683813000000002, "odom_linear_x": 0.11699999868869781, "odom_angular_z": 0.11277061700820923 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.1852468217498102, "yaw_error_to_plan_end": 0.26926232058830446, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6404411307381324, "angular_z": 1.8163785512169082 }, "ackermann_cmd": { "speed": 0.6404411196708679, "steering_angle": 0.3852967321872711 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 15.957688603000861, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.0622958540916443, "y": 1.3515321463346481, "yaw": 1.2389265298843382, "odom_age_sec": 0.028575063, "odom_linear_x": 0.09799999743700027, "odom_angular_z": 0.09277874231338501 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.1756817872953995, "yaw_error_to_plan_end": 0.2789290018779773, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6397271877054286, "angular_z": 1.8361027002049206 }, "ackermann_cmd": { "speed": 0.6397271752357483, "steering_angle": 0.3894645571708679 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 16.059092759000123, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.066975772380829, "y": 1.364941045641899, "yaw": 1.2461233139038086, "odom_age_sec": 0.029218645, "odom_linear_x": 0.15000000596046448, "odom_angular_z": 0.06437303870916367 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.1615056813308853, "yaw_error_to_plan_end": 0.28612578589744775, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2551607805006736, "angular_z": 0.7545231707709156 }, "ackermann_cmd": { "speed": -0.25516077876091003, "steering_angle": -0.40005508065223694 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 16.158076087000154, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.071680247783661, "y": 1.3787070959806442, "yaw": 1.251991629600525, "odom_age_sec": 0.028828021000000002, "odom_linear_x": 0.13699999451637268, "odom_angular_z": 0.06173519790172577 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.146991408499926, "yaw_error_to_plan_end": 0.29199410159416406, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6390601144462164, "angular_z": 1.8544881064923928 }, "ackermann_cmd": { "speed": 0.6390601396560669, "steering_angle": 0.3933459222316742 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 16.25899974300046, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.075540244579315, "y": 1.3902451246976852, "yaw": 1.2593443393707275, "odom_age_sec": 0.029027438000000003, "odom_linear_x": 0.12399999797344208, "odom_angular_z": 0.07645224779844284 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.134859134479055, "yaw_error_to_plan_end": 0.2993468113643667, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6374491716438972, "angular_z": 1.898713034344632 }, "ackermann_cmd": { "speed": 0.6374491453170776, "steering_angle": 0.40266770124435425 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 16.35772352999993, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.081288516521454, "y": 1.4078921526670456, "yaw": 1.2668063640594482, "odom_age_sec": 0.028530438, "odom_linear_x": 0.20900000631809235, "odom_angular_z": 0.06906784325838089 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.116365167085933, "yaw_error_to_plan_end": 0.30680883605308734, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.2539613938209072, "angular_z": 0.7872381807614405 }, "ackermann_cmd": { "speed": -0.25396138429641724, "steering_angle": -0.4172484278678894 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 16.4578418960009, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.08869332075119, "y": 1.4311577528715134, "yaw": 1.272446155548096, "odom_age_sec": 0.028674354000000003, "odom_linear_x": 0.24199999868869781, "odom_angular_z": 0.05368427932262421 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.0920542713825656, "yaw_error_to_plan_end": 0.3124486275417351, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6340736709667899, "angular_z": 1.9905785458786642 }, "ackermann_cmd": { "speed": 0.6340736746788025, "steering_angle": 0.4219611883163452 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 16.558993968999857, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.095792233943939, "y": 1.4539577215909958, "yaw": 1.2813570499420166, "odom_age_sec": 0.029054062000000002, "odom_linear_x": 0.24199999868869781, "odom_angular_z": 0.09906820952892303 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.068296540862205, "yaw_error_to_plan_end": 0.32135952193565576, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.251789895891382, "angular_z": 0.8455975210230922 }, "ackermann_cmd": { "speed": -0.2517898976802826, "steering_angle": -0.4477178156375885 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 16.657967630000712, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.1028212904930115, "y": 1.4773329943418503, "yaw": 1.2920184135437012, "odom_age_sec": 0.028555564000000002, "odom_linear_x": 0.23499999940395355, "odom_angular_z": 0.1021270602941513 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.0440435615510695, "yaw_error_to_plan_end": 0.3320208855373403, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.25165112090099356, "angular_z": 0.8492889525656807 }, "ackermann_cmd": { "speed": -0.2516511082649231, "steering_angle": -0.449635773897171 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 16.75882907900086, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.10877126455307, "y": 1.4979012459516525, "yaw": 1.3025578260421753, "odom_age_sec": 0.028922479, "odom_linear_x": 0.20900000631809235, "odom_angular_z": 0.11469582468271255 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.022802638036178, "yaw_error_to_plan_end": 0.34256029803581445, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6439036101362932, "angular_z": 1.7200318070882763 }, "ackermann_cmd": { "speed": 0.6439036130905151, "steering_angle": 0.36488449573516846 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 16.857949531000486, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.1133617758750916, "y": 1.514473482966423, "yaw": 1.314656376838684, "odom_age_sec": 0.028693313, "odom_linear_x": 0.16300000250339508, "odom_angular_z": 0.11570356786251068 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 1.0057750798505036, "yaw_error_to_plan_end": 0.3546588488323232, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6564690855867755, "angular_z": 1.3607952180764589 }, "ackermann_cmd": { "speed": 0.6564691066741943, "steering_angle": 0.2881735861301422 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 16.958110647001376, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.117979943752289, "y": 1.5319713801145554, "yaw": 1.325433611869812, "odom_age_sec": 0.028743855000000002, "odom_linear_x": 0.1889999955892563, "odom_angular_z": 0.10628268122673035 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.9878948581097343, "yaw_error_to_plan_end": 0.36543608386345117, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6700969954374844, "angular_z": 0.9541863577092908 }, "ackermann_cmd": { "speed": 0.6700969934463501, "steering_angle": 0.20087890326976776 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 17.05795843099986, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.124458968639374, "y": 1.5576061457395554, "yaw": 1.3332264423370361, "odom_age_sec": 0.028689521000000003, "odom_linear_x": 0.2809999883174896, "odom_angular_z": 0.06567481905221939 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.9618312213061532, "yaw_error_to_plan_end": 0.3732289143306753, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6827066811174253, "angular_z": 0.5622030638013281 }, "ackermann_cmd": { "speed": 0.6827066540718079, "steering_angle": 0.11721941828727722 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 17.157830007001394, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.132821261882782, "y": 1.5916715115308762, "yaw": 1.3378974199295044, "odom_age_sec": 0.028592438, "odom_linear_x": 0.3659999966621399, "odom_angular_z": 0.042231496423482895 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.9273311743257151, "yaw_error_to_plan_end": 0.37789989192314355, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6932351920361434, "angular_z": 0.22331442609103633 }, "ackermann_cmd": { "speed": 0.6932352185249329, "steering_angle": 0.04603257775306702 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 17.258271081000203, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.1426331400871277, "y": 1.632423684000969, "yaw": 1.341956853866577, "odom_age_sec": 0.026989524, "odom_linear_x": 0.42500001192092896, "odom_angular_z": 0.04027172178030014 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.8861992536593827, "yaw_error_to_plan_end": 0.3819593258602161, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6994810660961994, "angular_z": -0.017284973345897257 }, "ackermann_cmd": { "speed": 0.6994810700416565, "steering_angle": -0.0035336781293153763 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 17.35787290799999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.1539966464042664, "y": 1.6804247349500656, "yaw": 1.3435423374176025, "odom_age_sec": 0.028535063000000003, "odom_linear_x": 0.503000020980835, "odom_angular_z": 0.0015185698866844177 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.8379342891380726, "yaw_error_to_plan_end": 0.3835448094112417, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6962652925575709, "angular_z": -0.12382605571522783 }, "ackermann_cmd": { "speed": 0.6962652802467346, "steering_angle": -0.025426099076867104 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 17.457868066001538, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.166545331478119, "y": 1.7335117310285568, "yaw": 1.3408652544021604, "odom_age_sec": 0.028807354, "odom_linear_x": 0.5559999942779541, "odom_angular_z": -0.03374776616692543 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.7847177459465118, "yaw_error_to_plan_end": 0.3808677263957996, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6910106144861201, "angular_z": -0.29579813370470137 }, "ackermann_cmd": { "speed": 0.691010594367981, "steering_angle": -0.06113714724779129 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 17.55778339200151, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.180292308330536, "y": 1.7908241003751755, "yaw": 1.336171507835388, "odom_age_sec": 0.028725729000000002, "odom_linear_x": 0.5950000286102295, "odom_angular_z": -0.051879025995731354 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.727395259433674, "yaw_error_to_plan_end": 0.3761739798290271, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6858761468258225, "angular_z": -0.46129590444945007 }, "ackermann_cmd": { "speed": 0.6858761310577393, "steering_angle": -0.09588180482387543 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 17.65800900800059, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.195048987865448, "y": 1.85097436606884, "yaw": 1.330150485038757, "odom_age_sec": 0.028736354000000002, "odom_linear_x": 0.6150000095367432, "odom_angular_z": -0.0623282752931118 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.6673788849661905, "yaw_error_to_plan_end": 0.37015295703239626, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6806822444267959, "angular_z": -0.6261549152788936 }, "ackermann_cmd": { "speed": 0.6806822419166565, "steering_angle": -0.1307937502861023 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 17.758023709000554, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2107309699058533, "y": 1.9131603688001633, "yaw": 1.3225548267364502, "odom_age_sec": 0.028790438, "odom_linear_x": 0.640999972820282, "odom_angular_z": -0.08182062208652496 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.6055226756831656, "yaw_error_to_plan_end": 0.36255729873008935, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6763491176144371, "angular_z": -0.7617263539180136 }, "ackermann_cmd": { "speed": 0.6763491034507751, "steering_angle": -0.1596800982952118 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 17.85791407600118, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2274333834648132, "y": 1.9771697968244553, "yaw": 1.3132605552673342, "odom_age_sec": 0.028705105, "odom_linear_x": 0.6610000133514404, "odom_angular_z": -0.0966605395078659 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.5421069276344478, "yaw_error_to_plan_end": 0.35326302726097336, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6719158257116116, "angular_z": -0.8985810074481595 }, "ackermann_cmd": { "speed": 0.6719158291816711, "steering_angle": -0.1889583319425583 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 17.958063484000377, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.244849383831024, "y": 2.041347309947014, "yaw": 1.302060127258301, "odom_age_sec": 0.028765271000000002, "odom_linear_x": 0.6610000133514404, "odom_angular_z": -0.12293443828821182 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.4788888852113128, "yaw_error_to_plan_end": 0.34206259925194016, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6675974793252061, "angular_z": -1.030087672679774 }, "ackermann_cmd": { "speed": 0.6675974726676941, "steering_angle": -0.21716614067554474 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 18.057994767999844, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2632893919944763, "y": 2.106070324778557, "yaw": 1.2862597703933714, "odom_age_sec": 0.028770604, "odom_linear_x": 0.6539999842643738, "odom_angular_z": -0.16566607356071472 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.4156377317668636, "yaw_error_to_plan_end": 0.3262622423870105, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6637172621568315, "angular_z": -1.1467371154677095 }, "ackermann_cmd": { "speed": 0.6637172698974609, "steering_angle": -0.24221739172935486 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 18.15786880199994, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2828728556632996, "y": 2.17063407599926, "yaw": 1.2680876255035398, "odom_age_sec": 0.028767521, "odom_linear_x": 0.6669999957084656, "odom_angular_z": -0.18104946613311768 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.3532474708801664, "yaw_error_to_plan_end": 0.30809009749717897, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.6522089581418643, "angular_z": -1.4842736008956603 }, "ackermann_cmd": { "speed": 0.6522089838981628, "steering_angle": -0.3146246075630188 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 18.25784146100159, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.303839147090912, "y": 2.2355795353651047, "yaw": 1.25339937210083, "odom_age_sec": 0.028728979, "odom_linear_x": 0.6740000247955322, "odom_angular_z": -0.1388414353132248 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.29184836425134636, "yaw_error_to_plan_end": 0.29340184409446923, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.5307554652817249, "angular_z": -1.7063521003923803 }, "ackermann_cmd": { "speed": 0.5307554602622986, "steering_angle": -0.4309222996234894 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 18.35803453600056, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.325551211833954, "y": 2.2996807545423508, "yaw": 1.238867163658142, "odom_age_sec": 0.028833271, "odom_linear_x": 0.6610000133514404, "odom_angular_z": -0.15794271230697632 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.23415330871730886, "yaw_error_to_plan_end": 0.2788696356517813, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.41503526955825243, "angular_z": -1.6601410782330097 }, "ackermann_cmd": { "speed": 0.41503527760505676, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 18.457996944000115, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3470420241355896, "y": 2.35996775329113, "yaw": 1.2167389392852783, "odom_age_sec": 0.028771562, "odom_linear_x": 0.640999972820282, "odom_angular_z": -0.2719067335128784 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.18515606700953302, "yaw_error_to_plan_end": 0.2567414112789175, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.3285656539363013, "angular_z": -1.3142626157452053 }, "ackermann_cmd": { "speed": 0.32856565713882446, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 18.557787562000158, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3690897822380066, "y": 2.41701178252697, "yaw": 1.1802479028701782, "odom_age_sec": 0.028634563000000002, "odom_linear_x": 0.5889999866485596, "odom_angular_z": -0.39284443855285645 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14792249752990608, "yaw_error_to_plan_end": 0.22025037486381738, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.26088490080219007, "angular_z": -1.0435396032087603 }, "ackermann_cmd": { "speed": 0.2608849108219147, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 18.657640679000906, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.391171157360077, "y": 2.467957779765129, "yaw": 1.1298272609710693, "odom_age_sec": 0.028550979, "odom_linear_x": 0.5360000133514404, "odom_angular_z": -0.5445140600204468 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1285584343574703, "yaw_error_to_plan_end": 0.1698297329647085, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.22620600888660342, "angular_z": -0.9048240355464137 }, "ackermann_cmd": { "speed": 0.2262060046195984, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 18.759090126000956, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4133452773094177, "y": 2.512342259287834, "yaw": 1.0664306879043581, "odom_age_sec": 0.029135437, "odom_linear_x": 0.47099998593330383, "odom_angular_z": -0.6633378267288208 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.12758898442616665, "yaw_error_to_plan_end": 0.10643315989799729, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.08976592836229721, "angular_z": -0.35906371344918886 }, "ackermann_cmd": { "speed": -0.08976592868566513, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 18.857915288001095, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.434355914592743, "y": 2.548242375254631, "yaw": 0.9948564767837524, "odom_age_sec": 0.028703146000000002, "odom_linear_x": 0.38600000739097595, "odom_angular_z": -0.7251275181770325 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1384542956188464, "yaw_error_to_plan_end": 0.034858948777391596, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.09763841347469078, "angular_z": -0.3905536538987631 }, "ackermann_cmd": { "speed": -0.09763841331005096, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 18.957718655001372, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4520227313041687, "y": 2.5739574879407883, "yaw": 0.9203699827194213, "odom_age_sec": 0.028700772000000003, "odom_linear_x": 0.2809999883174896, "odom_angular_z": -0.7511019706726074 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1517460572274258, "yaw_error_to_plan_end": 0.03962754528693957, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10727853458600708, "angular_z": -0.42911413834402834 }, "ackermann_cmd": { "speed": -0.10727853327989578, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 19.0577247300007, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4642862677574158, "y": 2.589225336909294, "yaw": 0.8445306420326233, "odom_age_sec": 0.028698396, "odom_linear_x": 0.17000000178813934, "odom_angular_z": -0.7591738700866699 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1614073175698973, "yaw_error_to_plan_end": 0.11546688597373755, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11415275329710839, "angular_z": -0.45661101318843356 }, "ackermann_cmd": { "speed": -0.11415275186300278, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 19.15786655500051, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.471555173397064, "y": 2.5970132797956467, "yaw": 0.7758437395095825, "odom_age_sec": 0.028733063000000003, "odom_linear_x": 0.08500000089406967, "odom_angular_z": -0.6407749056816101 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1667343877816732, "yaw_error_to_plan_end": 0.18415378849677833, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11790412731606939, "angular_z": -0.47161650926427756 }, "ackermann_cmd": { "speed": -0.11790412664413452, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 19.25831329600078, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4741844534873962, "y": 2.599506661295891, "yaw": 0.7290327548980713, "odom_age_sec": 0.028894521000000003, "odom_linear_x": 0.01899999938905239, "odom_angular_z": -0.40194493532180786 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1684718542284009, "yaw_error_to_plan_end": 0.23096477310828956, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11909824420891707, "angular_z": -0.4763929768356683 }, "ackermann_cmd": { "speed": -0.1190982460975647, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 19.357534123000733, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4741844534873962, "y": 2.599506661295891, "yaw": 0.7290327548980713, "odom_age_sec": 0.028439355000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1684718542284009, "yaw_error_to_plan_end": 0.23096477310828956, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11860418537679426, "angular_z": -0.47441674150717705 }, "ackermann_cmd": { "speed": -0.11860418319702148, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 19.45775657300146, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.473956525325775, "y": 2.599307104945183, "yaw": 0.7290327548980713, "odom_age_sec": 0.028574938, "odom_linear_x": -0.006000000052154064, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.16833492922944043, "yaw_error_to_plan_end": 0.23096477310828956, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11860418537679426, "angular_z": -0.47441674150717705 }, "ackermann_cmd": { "speed": -0.11860418319702148, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 19.55799423100143, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.473728120326996, "y": 2.5991070717573166, "yaw": 0.7290327548980713, "odom_age_sec": 0.028823896, "odom_linear_x": -0.006000000052154064, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.16819809583174525, "yaw_error_to_plan_end": 0.23096477310828956, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11850779017752609, "angular_z": -0.47403116071010437 }, "ackermann_cmd": { "speed": -0.11850778758525848, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 19.657757599001343, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.473495662212372, "y": 2.598903462290764, "yaw": 0.7290327548980713, "odom_age_sec": 0.028625813000000003, "odom_linear_x": -0.006000000052154064, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.16805925731476296, "yaw_error_to_plan_end": 0.23096477310828956, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11841145946554868, "angular_z": -0.4736458378621947 }, "ackermann_cmd": { "speed": -0.11841145902872086, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 19.757723466000243, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4720043540000916, "y": 2.5975952595472336, "yaw": 0.7319111824035646, "odom_age_sec": 0.028485022000000002, "odom_linear_x": -0.026000000536441803, "odom_angular_z": 0.03611808642745018 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1671774983412149, "yaw_error_to_plan_end": 0.22808634560279628, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11790621497765634, "angular_z": -0.47162485991062536 }, "ackermann_cmd": { "speed": -0.11790621280670166, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 19.85783295800138, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.468793570995331, "y": 2.594758316874504, "yaw": 0.7382937073707582, "odom_age_sec": 0.028532480000000002, "odom_linear_x": -0.052000001072883606, "odom_angular_z": 0.07795163244009018 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.16532436610656712, "yaw_error_to_plan_end": 0.22170382063560268, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.1167100415407696, "angular_z": -0.4668401661630784 }, "ackermann_cmd": { "speed": -0.11671004444360733, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 19.957717533001414, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.463633954524994, "y": 2.590130850672722, "yaw": 0.7503373622894288, "odom_age_sec": 0.028397689, "odom_linear_x": -0.07100000232458115, "odom_angular_z": 0.1441255509853363 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1624739045725592, "yaw_error_to_plan_end": 0.20966016571693202, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11449346651610894, "angular_z": -0.45797386606443574 }, "ackermann_cmd": { "speed": -0.1144934669137001, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 20.057949233001636, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.457790791988373, "y": 2.5847404450178146, "yaw": 0.7707119584083557, "odom_age_sec": 0.028716812, "odom_linear_x": -0.07800000160932541, "odom_angular_z": 0.22498764097690582 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15940850683284513, "yaw_error_to_plan_end": 0.18928556959800513, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11225073535452862, "angular_z": -0.4490029414181145 }, "ackermann_cmd": { "speed": -0.11225073784589767, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 20.159009181001238, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4510411620140076, "y": 2.5782261341810226, "yaw": 0.7977863550186156, "odom_age_sec": 0.029173978000000003, "odom_linear_x": -0.09799999743700027, "odom_angular_z": 0.28833019733428955 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15603481944872344, "yaw_error_to_plan_end": 0.16221117298774523, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11005319424550002, "angular_z": -0.44021277698200006 }, "ackermann_cmd": { "speed": -0.11005319654941559, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 20.25780117600152, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.444105565547943, "y": 2.5711529701948166, "yaw": 0.8297392725944519, "odom_age_sec": 0.028695855000000003, "odom_linear_x": -0.09099999815225601, "odom_angular_z": 0.3294859230518341 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15275522808912334, "yaw_error_to_plan_end": 0.13025825541190894, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10741482666520803, "angular_z": -0.42965930666083213 }, "ackermann_cmd": { "speed": -0.10741482675075531, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 20.359111790001407, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.437832772731781, "y": 2.5643139332532883, "yaw": 0.8645916581153871, "odom_age_sec": 0.029368186, "odom_linear_x": -0.09099999815225601, "odom_angular_z": 0.35397911071777344 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14991296568201892, "yaw_error_to_plan_end": 0.09540586989097377, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10555353283320348, "angular_z": -0.42221413133281394 }, "ackermann_cmd": { "speed": -0.1055535301566124, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 20.458054409000397, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.434684455394745, "y": 2.5606945008039474, "yaw": 0.8819347620010376, "odom_age_sec": 0.028888188000000002, "odom_linear_x": -0.09799999743700027, "odom_angular_z": 0.36084890365600586 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14852774341326566, "yaw_error_to_plan_end": 0.07806276600532325, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10364745506947659, "angular_z": -0.41458982027790636 }, "ackermann_cmd": { "speed": -0.10364745557308197, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 20.557884110001396, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.42825049161911, "y": 2.552882954478264, "yaw": 0.920168697834015, "odom_age_sec": 0.028690396000000003, "odom_linear_x": -0.09799999743700027, "odom_angular_z": 0.3812561631202698 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14581441782107762, "yaw_error_to_plan_end": 0.03982883017234584, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.1026649567285151, "angular_z": -0.4106598269140604 }, "ackermann_cmd": { "speed": -0.10266495496034622, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 20.657722186000683, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.422667682170868, "y": 2.5455456227064133, "yaw": 0.9588474631309509, "odom_age_sec": 0.028577813, "odom_linear_x": -0.09099999815225601, "odom_angular_z": 0.3898177146911621 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14356977212015806, "yaw_error_to_plan_end": 0.0011500648754099174, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10106105540167208, "angular_z": -0.4042442216066883 }, "ackermann_cmd": { "speed": -0.10106105357408524, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 20.757747261000986, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4171544909477234, "y": 2.5376770943403244, "yaw": 0.9971161484718323, "odom_age_sec": 0.028696897000000002, "odom_linear_x": -0.09799999743700027, "odom_angular_z": 0.38077154755592346 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14146004950393906, "yaw_error_to_plan_end": 0.03711862046547143, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.09962339779759433, "angular_z": -0.3984935911903773 }, "ackermann_cmd": { "speed": -0.09962339699268341, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 20.85755037800118, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.411594569683075, "y": 2.5290501564741135, "yaw": 1.037197232246399, "odom_age_sec": 0.028523646000000003, "odom_linear_x": -0.10400000214576721, "odom_angular_z": 0.4100419282913208 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13950848750492598, "yaw_error_to_plan_end": 0.07719970424003807, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.09823271538226756, "angular_z": -0.39293086152907025 }, "ackermann_cmd": { "speed": -0.09823271632194519, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 20.95805953600029, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.406427323818207, "y": 2.5202539414167404, "yaw": 1.0804349184036255, "odom_age_sec": 0.028796146, "odom_linear_x": -0.10400000214576721, "odom_angular_z": 0.44006139039993286 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13787848877546918, "yaw_error_to_plan_end": 0.12043739039726464, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.097057860613895, "angular_z": -0.38823144245558 }, "ackermann_cmd": { "speed": -0.09705786406993866, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 21.057860612001605, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.401624619960785, "y": 2.511182114481926, "yaw": 1.1255629062652586, "odom_age_sec": 0.028658355000000003, "odom_linear_x": -0.10400000214576721, "odom_angular_z": 0.45363932847976685 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13653481920431765, "yaw_error_to_plan_end": 0.16556537825889772, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.24025126447477482, "angular_z": -0.9610050578990993 }, "ackermann_cmd": { "speed": 0.24025125801563263, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 21.15794039499997, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3973812460899353, "y": 2.5021982640028, "yaw": 1.1716398000717163, "odom_age_sec": 0.028693313, "odom_linear_x": -0.09799999743700027, "odom_angular_z": 0.462236225605011 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13550876874912343, "yaw_error_to_plan_end": 0.21164227206535546, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.2383831447570566, "angular_z": -0.9535325790282264 }, "ackermann_cmd": { "speed": 0.23838314414024353, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 21.258176178000213, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.394568622112274, "y": 2.495484873652458, "yaw": 1.2174198627471924, "odom_age_sec": 0.028930896, "odom_linear_x": -0.057999998331069946, "odom_angular_z": 0.4522222876548767 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13489237060732806, "yaw_error_to_plan_end": 0.25742233474083154, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.23716210402989202, "angular_z": -0.9486484161195681 }, "ackermann_cmd": { "speed": 0.23716209828853607, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 21.357760671000506, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3940083384513855, "y": 2.493977829813957, "yaw": 1.2376539707183838, "odom_age_sec": 0.028580813, "odom_linear_x": -0.006000000052154064, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13474338768748886, "yaw_error_to_plan_end": 0.27765644271202294, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.2369485035040085, "angular_z": -0.947794014016034 }, "ackermann_cmd": { "speed": 0.23694850504398346, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 21.457584580000912, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3941096663475037, "y": 2.4942648857831955, "yaw": 1.2376539707183838, "odom_age_sec": 0.028524855000000002, "odom_linear_x": 0.006000000052154064, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1347751667233605, "yaw_error_to_plan_end": 0.27765644271202294, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.23714836232998043, "angular_z": -0.9485934493199217 }, "ackermann_cmd": { "speed": 0.23714835941791534, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 21.558075530001588, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3951799273490906, "y": 2.4973240345716476, "yaw": 1.2434000968933105, "odom_age_sec": 0.028871688000000003, "odom_linear_x": 0.04500000178813934, "odom_angular_z": 0.03876194357872009 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13516451872016289, "yaw_error_to_plan_end": 0.28340256888694965, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.2375927532882667, "angular_z": -0.9503710131530668 }, "ackermann_cmd": { "speed": 0.23759275674819946, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 21.6577475640006, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3974215388298035, "y": 2.5038025826215744, "yaw": 1.2426198720932007, "odom_age_sec": 0.028643104000000003, "odom_linear_x": 0.07100000232458115, "odom_angular_z": -0.028120197355747223 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13626182186130567, "yaw_error_to_plan_end": 0.28262234408683984, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.239714039239606, "angular_z": -0.958856156958424 }, "ackermann_cmd": { "speed": 0.23971404135227203, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 21.75777105599991, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4011234641075134, "y": 2.514409586787224, "yaw": 1.2349830865859985, "odom_age_sec": 0.028601979000000003, "odom_linear_x": 0.12399999797344208, "odom_angular_z": -0.0966399610042572 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13874630920879108, "yaw_error_to_plan_end": 0.2749855585796377, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.2435217590160418, "angular_z": -0.9740870360641672 }, "ackermann_cmd": { "speed": 0.2435217648744583, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 21.85804000600001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4057909846305847, "y": 2.527389094233513, "yaw": 1.2210183143615723, "odom_age_sec": 0.028683147000000003, "odom_linear_x": 0.14300000667572021, "odom_angular_z": -0.15794791281223297 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14282777686143655, "yaw_error_to_plan_end": 0.2610207863552114, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10033770588611976, "angular_z": -0.40135082354447904 }, "ackermann_cmd": { "speed": -0.10033770650625229, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 21.95797812300043, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.410664737224579, "y": 2.540314242243767, "yaw": 1.200916051864624, "odom_age_sec": 0.028896437, "odom_linear_x": 0.12999999523162842, "odom_angular_z": -0.21800246834754944 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.147901350984375, "yaw_error_to_plan_end": 0.24091852385826318, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10418866899559127, "angular_z": -0.4167546759823651 }, "ackermann_cmd": { "speed": -0.10418866574764252, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 22.057791406999968, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4142648577690125, "y": 2.5492859333753586, "yaw": 1.175804376602173, "odom_age_sec": 0.028825188, "odom_linear_x": 0.07800000160932541, "odom_angular_z": -0.2576974034309387 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15191753392685967, "yaw_error_to_plan_end": 0.21580684859581223, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10732992498776045, "angular_z": -0.4293196999510418 }, "ackermann_cmd": { "speed": -0.10732992738485336, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 22.158013648000633, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4163207411766052, "y": 2.55405430495739, "yaw": 1.149994134902954, "odom_age_sec": 0.028841188, "odom_linear_x": 0.039000000804662704, "odom_angular_z": -0.2538056969642639 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15416431920600682, "yaw_error_to_plan_end": 0.18999660689659326, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10887933807291733, "angular_z": -0.4355173522916693 }, "ackermann_cmd": { "speed": -0.10887933522462845, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 22.258075765001195, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.416596829891205, "y": 2.5546594113111496, "yaw": 1.1383303403854372, "odom_age_sec": 0.028856105000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15444982456670034, "yaw_error_to_plan_end": 0.1783328123790764, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10891651217628504, "angular_z": -0.43566604870514014 }, "ackermann_cmd": { "speed": -0.1089165136218071, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 22.35781809100081, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.416596829891205, "y": 2.5546594113111496, "yaw": 1.1383303403854372, "odom_age_sec": 0.028812854000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15444982456670034, "yaw_error_to_plan_end": 0.1783328123790764, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10873267649495706, "angular_z": -0.43493070597982825 }, "ackermann_cmd": { "speed": -0.1087326779961586, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 22.457722250001098, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.416596829891205, "y": 2.5546594113111496, "yaw": 1.1383303403854372, "odom_age_sec": 0.028645813000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15444982456670034, "yaw_error_to_plan_end": 0.1783328123790764, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10873267649495706, "angular_z": -0.43493070597982825 }, "ackermann_cmd": { "speed": -0.1087326779961586, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 22.5578307830001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.416596829891205, "y": 2.5546594113111496, "yaw": 1.1383303403854372, "odom_age_sec": 0.028645271000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15444982456670034, "yaw_error_to_plan_end": 0.1783328123790764, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10873267649495706, "angular_z": -0.43493070597982825 }, "ackermann_cmd": { "speed": -0.1087326779961586, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 22.657646734000082, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4164671301841736, "y": 2.554383799433708, "yaw": 1.1383303403854372, "odom_age_sec": 0.028576188000000002, "odom_linear_x": -0.006000000052154064, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15432203342387657, "yaw_error_to_plan_end": 0.1783328123790764, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10873267649495706, "angular_z": -0.43493070597982825 }, "ackermann_cmd": { "speed": -0.1087326779961586, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 22.757866892001402, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4154998660087585, "y": 2.5523276776075363, "yaw": 1.1393070220947268, "odom_age_sec": 0.028762522000000002, "odom_linear_x": -0.026000000536441803, "odom_angular_z": 0.011148534715175629 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15338420451668858, "yaw_error_to_plan_end": 0.17930949408836594, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10809608424725291, "angular_z": -0.43238433698901163 }, "ackermann_cmd": { "speed": -0.10809608548879623, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 22.85920750600053, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4136921763420105, "y": 2.5484729260206223, "yaw": 1.14303719997406, "odom_age_sec": 0.029338895, "odom_linear_x": -0.04500000178813934, "odom_angular_z": 0.05719660222530365 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15169826633663253, "yaw_error_to_plan_end": 0.1830396719676992, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10689974782673171, "angular_z": -0.42759899130692686 }, "ackermann_cmd": { "speed": -0.10689974576234818, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 22.957752502001313, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.410951554775238, "y": 2.542532965540886, "yaw": 1.1557606458663938, "odom_age_sec": 0.028788063000000003, "odom_linear_x": -0.07100000232458115, "odom_angular_z": 0.1499544382095337 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14926933358923036, "yaw_error_to_plan_end": 0.19576311786003298, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10527539872280971, "angular_z": -0.42110159489123883 }, "ackermann_cmd": { "speed": -0.10527539998292923, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 23.05905828200048, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.407467544078827, "y": 2.534673258662224, "yaw": 1.1789184808731077, "odom_age_sec": 0.029351895000000003, "odom_linear_x": -0.08500000089406967, "odom_angular_z": 0.2633431851863861 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14633775874768518, "yaw_error_to_plan_end": 0.21892095286674684, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10304727973297495, "angular_z": -0.4121891189318998 }, "ackermann_cmd": { "speed": -0.10304728150367737, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 23.157789485001558, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4038185477256775, "y": 2.525816723704338, "yaw": 1.211362600326538, "odom_age_sec": 0.028820605000000003, "odom_linear_x": -0.09799999743700027, "odom_angular_z": 0.3430420756340027 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14336426091644544, "yaw_error_to_plan_end": 0.25136507232017724, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10102094846815753, "angular_z": -0.4040837938726301 }, "ackermann_cmd": { "speed": -0.101020947098732, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 23.257848311001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4004802107810974, "y": 2.516863390803337, "yaw": 1.2492338418960571, "odom_age_sec": 0.028792355000000002, "odom_linear_x": -0.09099999815225601, "odom_angular_z": 0.387634813785553 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14067001451500516, "yaw_error_to_plan_end": 0.28923631388969623, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.2474247272999261, "angular_z": -0.9896989091997044 }, "ackermann_cmd": { "speed": 0.24742472171783447, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 23.359413924001274, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.398004472255707, "y": 2.5093689411878586, "yaw": 1.2895346879959106, "odom_age_sec": 0.029486062, "odom_linear_x": -0.06499999761581421, "odom_angular_z": 0.407098650932312 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13861006396529174, "yaw_error_to_plan_end": 0.3295371599895498, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.24338679639326485, "angular_z": -0.9735471855730594 }, "ackermann_cmd": { "speed": 0.24338679015636444, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 23.45814729400081, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.397242248058319, "y": 2.5067820996046066, "yaw": 1.3106199502944946, "odom_age_sec": 0.078950454, "odom_linear_x": -0.052000001072883606, "odom_angular_z": 0.4112648367881775 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13791739265948708, "yaw_error_to_plan_end": 0.3506224222881338, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.2415353004477355, "angular_z": -0.966141201790942 }, "ackermann_cmd": { "speed": 0.24153530597686768, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 23.557866578001267, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.397323787212372, "y": 2.5070825070142746, "yaw": 1.3106199502944946, "odom_age_sec": 0.028742771, "odom_linear_x": 0.006000000052154064, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13800129337995767, "yaw_error_to_plan_end": 0.3506224222881338, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.24273461108069727, "angular_z": -0.9709384443227891 }, "ackermann_cmd": { "speed": 0.2427346110343933, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 23.657596904000457, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3976630568504333, "y": 2.508332297205925, "yaw": 1.3149404525756836, "odom_age_sec": 0.028523647000000003, "odom_linear_x": 0.026000000536441803, "odom_angular_z": 0.08772971481084824 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13835728350570725, "yaw_error_to_plan_end": 0.3549429245693228, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.24288227634872553, "angular_z": -0.9715291053949021 }, "ackermann_cmd": { "speed": 0.24288228154182434, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 23.757823104000636, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.399187743663788, "y": 2.5140736550092697, "yaw": 1.3167204856872559, "odom_age_sec": 0.028640063, "odom_linear_x": 0.06499999761581421, "odom_angular_z": -0.0046514347195625305 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14016303895843546, "yaw_error_to_plan_end": 0.356722957680895, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.24625499217342567, "angular_z": -0.9850199686937027 }, "ackermann_cmd": { "speed": 0.24625499546527863, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 23.858054054000604, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4017333388328552, "y": 2.5236387699842453, "yaw": 1.3110597133636472, "odom_age_sec": 0.028907188, "odom_linear_x": 0.11100000143051147, "odom_angular_z": -0.07077668607234955 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14366302013986776, "yaw_error_to_plan_end": 0.3510621853572864, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10073379655597463, "angular_z": -0.4029351862238985 }, "ackermann_cmd": { "speed": -0.10073379427194595, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 23.959089502001007, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4050418734550476, "y": 2.535718724131584, "yaw": 1.2991294860839844, "odom_age_sec": 0.029272395000000003, "odom_linear_x": 0.12399999797344208, "odom_angular_z": -0.13388700783252716 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14883840734070283, "yaw_error_to_plan_end": 0.33913195807762353, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10468917035122291, "angular_z": -0.41875668140489164 }, "ackermann_cmd": { "speed": -0.10468917340040207, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 24.05907666100029, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.407864272594452, "y": 2.5455203503370285, "yaw": 1.2819449901580808, "odom_age_sec": 0.029333187, "odom_linear_x": 0.09099999815225601, "odom_angular_z": -0.18744981288909912 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15356420249444927, "yaw_error_to_plan_end": 0.32194746215172, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10835004429894521, "angular_z": -0.43340017719578083 }, "ackermann_cmd": { "speed": -0.10835004597902298, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 24.158039572001144, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4093088507652283, "y": 2.550227925181389, "yaw": 1.261000156402588, "odom_age_sec": 0.028899313000000003, "odom_linear_x": 0.03200000151991844, "odom_angular_z": -0.21161359548568726 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15595942590831346, "yaw_error_to_plan_end": 0.30100262839622705, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11031086794663264, "angular_z": -0.44124347178653056 }, "ackermann_cmd": { "speed": -0.1103108674287796, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 24.258164188000592, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4093074202537537, "y": 2.550223395228386, "yaw": 1.261000156402588, "odom_age_sec": 0.028867896, "odom_linear_x": -0.006000000052154064, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15595709160871069, "yaw_error_to_plan_end": 0.30100262839622705, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10999691411176228, "angular_z": -0.4399876564470491 }, "ackermann_cmd": { "speed": -0.10999691486358643, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 24.357851056000072, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4092130064964294, "y": 2.5499341934919357, "yaw": 1.261000156402588, "odom_age_sec": 0.028668438, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15581040322037998, "yaw_error_to_plan_end": 0.30100262839622705, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10959173279211003, "angular_z": -0.4383669311684401 }, "ackermann_cmd": { "speed": -0.10959172993898392, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 24.45811271400089, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4091197848320007, "y": 2.549648329615593, "yaw": 1.261000156402588, "odom_age_sec": 0.028883354000000003, "odom_linear_x": -0.006000000052154064, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15566578616019583, "yaw_error_to_plan_end": 0.30100262839622705, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10969052386714752, "angular_z": -0.4387620954685901 }, "ackermann_cmd": { "speed": -0.10969052463769913, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 24.55916828699992, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4087113738059998, "y": 2.548397347331047, "yaw": 1.2609894275665283, "odom_age_sec": 0.029428061000000002, "odom_linear_x": -0.013000000268220901, "odom_angular_z": 0.0021374511998146772 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1550385107427138, "yaw_error_to_plan_end": 0.3009918995601675, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10915591353406019, "angular_z": -0.43662365413624077 }, "ackermann_cmd": { "speed": -0.10915591567754745, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 24.65781378200154, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.408303916454315, "y": 2.5471473187208176, "yaw": 1.2643074989318848, "odom_age_sec": 0.028779063, "odom_linear_x": -0.013000000268220901, "odom_angular_z": 0.05126689746975899 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15441992338066243, "yaw_error_to_plan_end": 0.3043099709255239, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10872377668498008, "angular_z": -0.4348951067399203 }, "ackermann_cmd": { "speed": -0.10872377455234528, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 24.75780527400093, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4075209498405457, "y": 2.5446985214948654, "yaw": 1.2737658023834229, "odom_age_sec": 0.028770937000000003, "odom_linear_x": -0.03200000151991844, "odom_angular_z": 0.10636167228221893 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1532228094890491, "yaw_error_to_plan_end": 0.31376827437706195, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10809103114972078, "angular_z": -0.4323641245988831 }, "ackermann_cmd": { "speed": -0.10809103399515152, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 24.857783766001376, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4059595465660095, "y": 2.539641186594963, "yaw": 1.2862759828567505, "odom_age_sec": 0.028781854000000003, "odom_linear_x": -0.052000001072883606, "odom_angular_z": 0.12849783897399902 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1508186556618222, "yaw_error_to_plan_end": 0.32627845485038964, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10622215681070707, "angular_z": -0.4248886272428283 }, "ackermann_cmd": { "speed": -0.10622216016054153, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 24.958020258000033, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.404209315776825, "y": 2.533678814768791, "yaw": 1.3040102720260618, "odom_age_sec": 0.028822438000000002, "odom_linear_x": -0.06499999761581421, "odom_angular_z": 0.1939965784549713 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14810888598608102, "yaw_error_to_plan_end": 0.34401274401970094, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10441059820466908, "angular_z": -0.4176423928186763 }, "ackermann_cmd": { "speed": -0.10441059619188309, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 25.057865000000675, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4022340178489685, "y": 2.5264282673597336, "yaw": 1.3274561166763306, "odom_age_sec": 0.028660480000000002, "odom_linear_x": -0.07800000160932541, "odom_angular_z": 0.2505720555782318 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14498444440310285, "yaw_error_to_plan_end": 0.3674585886699698, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10220691397958133, "angular_z": -0.4088276559183253 }, "ackermann_cmd": { "speed": -0.10220691561698914, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 25.15798128300048, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4003514647483826, "y": 2.5187681168317795, "yaw": 1.3562800884246824, "odom_age_sec": 0.028672563, "odom_linear_x": -0.07800000160932541, "odom_angular_z": 0.3014412820339203 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1418749235798633, "yaw_error_to_plan_end": 0.3962825604183215, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.09990701244722545, "angular_z": -0.3996280497889018 }, "ackermann_cmd": { "speed": -0.09990701079368591, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 25.25785494200136, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.398634374141693, "y": 2.510717675089836, "yaw": 1.3890388011932373, "odom_age_sec": 0.028823521, "odom_linear_x": -0.08500000089406967, "odom_angular_z": 0.3357832431793213 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1387943506800239, "yaw_error_to_plan_end": 0.4290412731868765, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.2445671754399214, "angular_z": -0.9782687017596856 }, "ackermann_cmd": { "speed": 0.2445671707391739, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 25.357800101000976, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.397244870662689, "y": 2.5029504746198654, "yaw": 1.4253756999969482, "odom_age_sec": 0.028768355000000002, "odom_linear_x": -0.07100000232458115, "odom_angular_z": 0.3705486059188843 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13599529401477642, "yaw_error_to_plan_end": 0.46537817199058745, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.23901290580621973, "angular_z": -0.9560516232248789 }, "ackermann_cmd": { "speed": 0.2390129119157791, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 25.458251216999997, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.396824300289154, "y": 2.5000496357679367, "yaw": 1.4619538784027102, "odom_age_sec": 0.028968063000000002, "odom_linear_x": -0.013000000268220901, "odom_angular_z": 0.3526260256767273 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1349666273537195, "yaw_error_to_plan_end": 0.5019563503963493, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.23659239567974424, "angular_z": -0.946369582718977 }, "ackermann_cmd": { "speed": 0.2365923970937729, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 25.55911766600002, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.396824300289154, "y": 2.5000496357679367, "yaw": 1.4619538784027102, "odom_age_sec": 0.02928402, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1349666273537195, "yaw_error_to_plan_end": 0.5019563503963493, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.23754126414254634, "angular_z": -0.9501650565701854 }, "ackermann_cmd": { "speed": 0.23754125833511353, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 25.659282657001313, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.397065579891205, "y": 2.50229911506176, "yaw": 1.4712568521499636, "odom_age_sec": 0.029435395000000003, "odom_linear_x": 0.03200000151991844, "odom_angular_z": 0.06953049451112747 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13583362414491096, "yaw_error_to_plan_end": 0.5112593241436028, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.23840235227486145, "angular_z": -0.9536094090994458 }, "ackermann_cmd": { "speed": 0.2384023517370224, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 25.75763552800163, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.397690713405609, "y": 2.5084832161664963, "yaw": 1.4721879959106443, "odom_age_sec": 0.028622855000000003, "odom_linear_x": 0.07100000232458115, "odom_angular_z": -0.007302473299205303 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13841238432717246, "yaw_error_to_plan_end": 0.5121904679042835, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.242787054048533, "angular_z": -0.971148216194132 }, "ackermann_cmd": { "speed": 0.24278704822063446, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 25.85871472600047, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.398659884929657, "y": 2.517973944544792, "yaw": 1.466112732887268, "odom_age_sec": 0.029068854, "odom_linear_x": 0.10400000214576721, "odom_angular_z": -0.07821089029312134 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1427982644914619, "yaw_error_to_plan_end": 0.5061152048809072, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.25032334031931186, "angular_z": -1.0012933612772474 }, "ackermann_cmd": { "speed": 0.2503233551979065, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 25.957855927999844, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.400103509426117, "y": 2.531102940440178, "yaw": 1.4542964696884155, "odom_age_sec": 0.028818438000000002, "odom_linear_x": 0.12999999523162842, "odom_angular_z": -0.12669438123703003 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14957861278020781, "yaw_error_to_plan_end": 0.4942989416820547, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10513723292371017, "angular_z": -0.4205489316948407 }, "ackermann_cmd": { "speed": -0.10513723641633987, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 26.05791108700032, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4019078612327576, "y": 2.5457294434309006, "yaw": 1.4371287822723389, "odom_age_sec": 0.028805063000000002, "odom_linear_x": 0.14300000667572021, "odom_angular_z": -0.1852015256881714 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15795090086491242, "yaw_error_to_plan_end": 0.477131254265978, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11117192617333546, "angular_z": -0.44468770469334185 }, "ackermann_cmd": { "speed": -0.11117192357778549, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 26.157592663001196, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4035648703575134, "y": 2.55741648375988, "yaw": 1.4155186414718626, "odom_age_sec": 0.028710313, "odom_linear_x": 0.10400000214576721, "odom_angular_z": -0.2313520908355713 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.16513519203183397, "yaw_error_to_plan_end": 0.4555211134655017, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11665774795980152, "angular_z": -0.4666309918392061 }, "ackermann_cmd": { "speed": -0.11665774881839752, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 26.25808440400033, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4046265482902527, "y": 2.563832566142082, "yaw": 1.3902273178100586, "odom_age_sec": 0.028933187000000003, "odom_linear_x": 0.057999998331069946, "odom_angular_z": -0.2578778564929962 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.16919988233829192, "yaw_error_to_plan_end": 0.43022978980369775, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11933237239579017, "angular_z": -0.4773294895831607 }, "ackermann_cmd": { "speed": -0.11933237314224243, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 26.357717396000226, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4049851298332214, "y": 2.5657365769147873, "yaw": 1.3774770498275755, "odom_age_sec": 0.028668397, "odom_linear_x": 0.006000000052154064, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.17040690585981924, "yaw_error_to_plan_end": 0.4174795218212146, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.12050308734430011, "angular_z": -0.48201234937720044 }, "ackermann_cmd": { "speed": -0.12050309032201767, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 26.457559597, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4049851298332214, "y": 2.5657365769147873, "yaw": 1.3774770498275755, "odom_age_sec": 0.028543688, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.17040690585981924, "yaw_error_to_plan_end": 0.4174795218212146, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11996646172531276, "angular_z": -0.47986584690125106 }, "ackermann_cmd": { "speed": -0.11996646225452423, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 26.557897630000298, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4049851298332214, "y": 2.5657365769147873, "yaw": 1.3774770498275755, "odom_age_sec": 0.028753771, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.17040690585981924, "yaw_error_to_plan_end": 0.4174795218212146, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11996646172531276, "angular_z": -0.47986584690125106 }, "ackermann_cmd": { "speed": -0.11996646225452423, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 26.65774562200022, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4048561453819275, "y": 2.565090700984001, "yaw": 1.3770577907562256, "odom_age_sec": 0.028795771, "odom_linear_x": -0.013000000268220901, "odom_angular_z": -0.008364317938685417 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.17000073936809965, "yaw_error_to_plan_end": 0.41706026274986474, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11996646172531276, "angular_z": -0.47986584690125106 }, "ackermann_cmd": { "speed": -0.11996646225452423, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 26.757828822001102, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4046677947044373, "y": 2.5641499012708664, "yaw": 1.3772766590118408, "odom_age_sec": 0.028749104, "odom_linear_x": -0.013000000268220901, "odom_angular_z": 0.004386924672871828 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1694122530229244, "yaw_error_to_plan_end": 0.41727913100548, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11942543943015754, "angular_z": -0.47770175772063017 }, "ackermann_cmd": { "speed": -0.11942543834447861, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 26.857784106001418, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4042930006980896, "y": 2.5622694939374924, "yaw": 1.3799479007720947, "odom_age_sec": 0.028844313000000003, "odom_linear_x": -0.01899999938905239, "odom_angular_z": 0.03193384036421776 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.16824514968874232, "yaw_error_to_plan_end": 0.4199503727657339, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11846665391677014, "angular_z": -0.47386661566708055 }, "ackermann_cmd": { "speed": -0.11846665292978287, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 26.95790043099987, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4035324454307556, "y": 2.5583899468183517, "yaw": 1.3855761289596555, "odom_age_sec": 0.028751771000000002, "odom_linear_x": -0.039000000804662704, "odom_angular_z": 0.07403668016195297 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1658727487102404, "yaw_error_to_plan_end": 0.42557860095329464, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11681740706859343, "angular_z": -0.46726962827437374 }, "ackermann_cmd": { "speed": -0.116817407310009, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 27.05906367100033, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.402441442012787, "y": 2.5525885075330734, "yaw": 1.3976120948791502, "odom_age_sec": 0.029442186000000002, "odom_linear_x": -0.06499999761581421, "odom_angular_z": 0.13817603886127472 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1624076704337036, "yaw_error_to_plan_end": 0.4376145668727894, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11465766204738656, "angular_z": -0.45863064818954624 }, "ackermann_cmd": { "speed": -0.11465766280889511, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 27.157711457000914, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.4009217619895935, "y": 2.5438259094953537, "yaw": 1.418157935142517, "odom_age_sec": 0.028768187, "odom_linear_x": -0.09099999815225601, "odom_angular_z": 0.2277909368276596 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15735564449132877, "yaw_error_to_plan_end": 0.4581604071361562, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11097672782896062, "angular_z": -0.4439069113158425 }, "ackermann_cmd": { "speed": -0.11097672581672668, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 27.257707908000157, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.399413526058197, "y": 2.5337241142988205, "yaw": 1.448179364204407, "odom_age_sec": 0.028814188, "odom_linear_x": -0.10400000214576721, "odom_angular_z": 0.31785914301872253 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.15178269401413727, "yaw_error_to_plan_end": 0.4881818361980461, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10704907208540694, "angular_z": -0.42819628834162776 }, "ackermann_cmd": { "speed": -0.10704907029867172, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 27.3591070220009, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3981565833091736, "y": 2.522922083735466, "yaw": 1.4846431016921997, "odom_age_sec": 0.029437978000000004, "odom_linear_x": -0.11100000143051147, "odom_angular_z": 0.37946420907974243 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1460916445748869, "yaw_error_to_plan_end": 0.5246455736858389, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.1030702128384735, "angular_z": -0.412280851353894 }, "ackermann_cmd": { "speed": -0.1030702143907547, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 27.457664183000816, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.397343337535858, "y": 2.5124762505292892, "yaw": 1.5252771377563474, "odom_age_sec": 0.028688313000000003, "odom_linear_x": -0.10400000214576721, "odom_angular_z": 0.41551822423934937 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1408296227439028, "yaw_error_to_plan_end": 0.5652796097499866, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.24799564314987038, "angular_z": -0.9919825725994815 }, "ackermann_cmd": { "speed": 0.24799564480781555, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 27.5590371720009, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.397058427333832, "y": 2.50492624938488, "yaw": 1.5697704553604126, "odom_age_sec": 0.029338478, "odom_linear_x": -0.057999998331069946, "odom_angular_z": 0.4503883719444275 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.137136580422717, "yaw_error_to_plan_end": 0.6097729273540518, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.24007886379058446, "angular_z": -0.9603154551623378 }, "ackermann_cmd": { "speed": 0.240078866481781, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 27.657766584001365, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3970624804496765, "y": 2.5026524513959885, "yaw": 1.5905449390411377, "odom_age_sec": 0.028814229, "odom_linear_x": -0.006000000052154064, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13600850347368815, "yaw_error_to_plan_end": 0.6305474110347769, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.23796841744121458, "angular_z": -0.9518736697648583 }, "ackermann_cmd": { "speed": 0.23796841502189636, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 27.759022823000123, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.397056519985199, "y": 2.5029523819684982, "yaw": 1.5905449390411377, "odom_age_sec": 0.029290604, "odom_linear_x": 0.006000000052154064, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13616039614940587, "yaw_error_to_plan_end": 0.6305474110347769, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.23937496611369113, "angular_z": -0.9574998644547645 }, "ackermann_cmd": { "speed": 0.23937496542930603, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 27.857675651001045, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3970035910606384, "y": 2.5052302330732346, "yaw": 1.5968588590621946, "odom_age_sec": 0.028469272, "odom_linear_x": 0.03200000151991844, "odom_angular_z": 0.04190538078546524 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13733648923294023, "yaw_error_to_plan_end": 0.6368613310558338, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.24080107851274443, "angular_z": -0.9632043140509777 }, "ackermann_cmd": { "speed": 0.24080108106136322, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 27.957982476000325, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.396817147731781, "y": 2.5121386498212814, "yaw": 1.596709132194519, "odom_age_sec": 0.028851187, "odom_linear_x": 0.08500000089406967, "odom_angular_z": -0.015840711072087288 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14109045848917354, "yaw_error_to_plan_end": 0.6367116041881583, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.24657481998581873, "angular_z": -0.9862992799432749 }, "ackermann_cmd": { "speed": 0.24657481908798218, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 28.059203215001617, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3965486884117126, "y": 2.5229683369398117, "yaw": 1.5892878770828247, "odom_age_sec": 0.029369894, "odom_linear_x": 0.11699999868869781, "odom_angular_z": -0.08998125046491623 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14741625201968933, "yaw_error_to_plan_end": 0.6292903490764639, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10334430436263949, "angular_z": -0.41337721745055794 }, "ackermann_cmd": { "speed": -0.10334430634975433, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 28.157831877000717, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.396321475505829, "y": 2.5373979061841965, "yaw": 1.5759320259094236, "odom_age_sec": 0.028918604, "odom_linear_x": 0.14300000667572021, "odom_angular_z": -0.14523421227931976 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1565144102000464, "yaw_error_to_plan_end": 0.6159344979030628, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10995712273799971, "angular_z": -0.43982849095199883 }, "ackermann_cmd": { "speed": -0.10995712131261826, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 28.25797424400116, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.396302878856659, "y": 2.5512342900037766, "yaw": 1.5583001375198364, "odom_age_sec": 0.028897104000000003, "odom_linear_x": 0.12399999797344208, "odom_angular_z": -0.1844155490398407 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1658066408937865, "yaw_error_to_plan_end": 0.5983026095134755, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11711510592880715, "angular_z": -0.4684604237152286 }, "ackermann_cmd": { "speed": -0.11711510270833969, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 28.35804281900164, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.396458327770233, "y": 2.560380980372429, "yaw": 1.5360143184661865, "odom_age_sec": 0.028979562, "odom_linear_x": 0.07100000232458115, "odom_angular_z": -0.23375484347343445 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.17216835243875278, "yaw_error_to_plan_end": 0.5760167904598257, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.12202606486138717, "angular_z": -0.4881042594455487 }, "ackermann_cmd": { "speed": -0.12202606350183487, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 28.45752922900101, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3966163992881775, "y": 2.5642693489789963, "yaw": 1.5123755931854248, "odom_age_sec": 0.028571230000000003, "odom_linear_x": 0.03200000151991844, "odom_angular_z": -0.22645032405853271 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.17488495389962594, "yaw_error_to_plan_end": 0.552378065179064, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.12337829996083743, "angular_z": -0.49351319984334974 }, "ackermann_cmd": { "speed": -0.12337829917669296, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 28.557876512000803, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.396655261516571, "y": 2.5649228543043137, "yaw": 1.502489447593689, "odom_age_sec": 0.028761979000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.17533751838839737, "yaw_error_to_plan_end": 0.5424919195873281, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.12373701432602721, "angular_z": -0.49494805730410885 }, "ackermann_cmd": { "speed": -0.12373701483011246, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 28.65799521200097, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.396655261516571, "y": 2.5649228543043137, "yaw": 1.502489447593689, "odom_age_sec": 0.028895438000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.17533751838839737, "yaw_error_to_plan_end": 0.5424919195873281, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.12343761294543176, "angular_z": -0.49375045178172705 }, "ackermann_cmd": { "speed": -0.12343761324882507, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 28.75822712000081, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.396655261516571, "y": 2.5649228543043137, "yaw": 1.502489447593689, "odom_age_sec": 0.028906188000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.17533751838839737, "yaw_error_to_plan_end": 0.5424919195873281, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.12343761294543176, "angular_z": -0.49375045178172705 }, "ackermann_cmd": { "speed": -0.12343761324882507, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 28.857473280000704, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.39663428068161, "y": 2.5646222084760666, "yaw": 1.502489447593689, "odom_age_sec": 0.028671729000000003, "odom_linear_x": -0.006000000052154064, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.17513126699816386, "yaw_error_to_plan_end": 0.5424919195873281, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.12343761294543176, "angular_z": -0.49375045178172705 }, "ackermann_cmd": { "speed": -0.12343761324882507, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 28.95779802100151, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.39661306142807, "y": 2.5643196552991867, "yaw": 1.502489447593689, "odom_age_sec": 0.028865854000000003, "odom_linear_x": -0.006000000052154064, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.17492405753066176, "yaw_error_to_plan_end": 0.5424919195873281, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.1232924119667074, "angular_z": -0.4931696478668296 }, "ackermann_cmd": { "speed": -0.12329240888357162, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 29.059405510000943, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.396434247493744, "y": 2.561749503016472, "yaw": 1.5038113594055176, "odom_age_sec": 0.029647727000000002, "odom_linear_x": -0.03200000151991844, "odom_angular_z": 0.0199685487896204 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1731742692749373, "yaw_error_to_plan_end": 0.5438138313991567, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.12225004438379561, "angular_z": -0.48900017753518243 }, "ackermann_cmd": { "speed": -0.1222500428557396, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 29.15818408800078, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3960160613059998, "y": 2.55556158721447, "yaw": 1.5097417831420898, "odom_age_sec": 0.029107146, "odom_linear_x": -0.07100000232458115, "odom_angular_z": 0.0903836041688919 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.16903952916645765, "yaw_error_to_plan_end": 0.549744255135729, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11950745351751063, "angular_z": -0.4780298140700425 }, "ackermann_cmd": { "speed": -0.11950745433568954, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 29.259177578000163, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3955172896385193, "y": 2.5470374077558517, "yaw": 1.5266035795211792, "odom_age_sec": 0.029457269, "odom_linear_x": -0.09099999815225601, "odom_angular_z": 0.19849994778633118 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1635009463235457, "yaw_error_to_plan_end": 0.5666060515148184, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11547601228861487, "angular_z": -0.4619040491544595 }, "ackermann_cmd": { "speed": -0.11547601222991943, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 29.357848198000283, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3951441645622253, "y": 2.537417933344841, "yaw": 1.5542131662368774, "odom_age_sec": 0.028858980000000003, "odom_linear_x": -0.09099999815225601, "odom_angular_z": 0.2929479479789734 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1574275177228191, "yaw_error_to_plan_end": 0.5942156382305166, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.11078091727365873, "angular_z": -0.4431236690946349 }, "ackermann_cmd": { "speed": -0.11078091710805893, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 29.457582398999875, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.395058810710907, "y": 2.5272758454084396, "yaw": 1.5876994132995603, "odom_age_sec": 0.028613396000000003, "odom_linear_x": -0.10400000214576721, "odom_angular_z": 0.3484775722026825 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1511775883034491, "yaw_error_to_plan_end": 0.6277018852931995, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": -0.10657444469439271, "angular_z": -0.42629777877757086 }, "ackermann_cmd": { "speed": -0.10657444596290588, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 29.557832307000353, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.395359456539154, "y": 2.5160665959119797, "yaw": 1.626112103462219, "odom_age_sec": 0.028818188, "odom_linear_x": -0.11100000143051147, "odom_angular_z": 0.3928528428077698 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.14445428727365542, "yaw_error_to_plan_end": 0.6661145754558582, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.25449637718030427, "angular_z": -1.017985508721217 }, "ackermann_cmd": { "speed": 0.25449636578559875, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 29.658907463001015, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.396009862422943, "y": 2.506193444132805, "yaw": 1.6695463657379148, "odom_age_sec": 0.029190729000000002, "odom_linear_x": -0.08500000089406967, "odom_angular_z": 0.4451490044593811 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13867998669833903, "yaw_error_to_plan_end": 0.709548837731554, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.24298678432360413, "angular_z": -0.9719471372944165 }, "ackermann_cmd": { "speed": 0.2429867833852768, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 29.758021749001273, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3965036273002625, "y": 2.50161175429821, "yaw": 1.7135913372039795, "odom_age_sec": 0.028994771000000003, "odom_linear_x": -0.026000000536441803, "odom_angular_z": 0.4221765398979187 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13599320775529217, "yaw_error_to_plan_end": 0.7535938091976186, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.23750353055063356, "angular_z": -0.9500141222025342 }, "ackermann_cmd": { "speed": 0.2375035285949707, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 29.857508867000433, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3964595198631287, "y": 2.501911923289299, "yaw": 1.7135913372039795, "odom_age_sec": 0.02868623, "odom_linear_x": 0.006000000052154064, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1361763816209971, "yaw_error_to_plan_end": 0.7535938091976186, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.23934804564931422, "angular_z": -0.9573921825972569 }, "ackermann_cmd": { "speed": 0.23934803903102875, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 29.957783608000682, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3964595198631287, "y": 2.501911923289299, "yaw": 1.7135913372039795, "odom_age_sec": 0.028798312000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.1361763816209971, "yaw_error_to_plan_end": 0.7535938091976186, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.23967043165295493, "angular_z": -0.9586817266118197 }, "ackermann_cmd": { "speed": 0.23967042565345764, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" }, { "elapsed_sec": 30.05827722400136, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3958346247673035, "y": 2.506111904978752, "yaw": 1.7182797193527222, "odom_age_sec": 0.028883021000000002, "odom_linear_x": 0.057999998331069946, "odom_angular_z": 0.03450464457273483 }, "goal": null, "plan_end": { "x": 2.5157566366996607, "y": 2.4362445430622923, "yaw": 0.9599975280063608 }, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": 0.13879026337272365, "yaw_error_to_plan_end": 0.7582821913463613, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.242403481345084, "angular_z": -0.969613925380336 }, "ackermann_cmd": { "speed": 0.24240347743034363, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=43 obstacles=0 planning_ms=56.888 goal_error=0.066 yaw_error=0.960", "tracker_status": "external_plan_ok points=121 length=3.600 goal=(2.516,2.436,0.960)" } ] }